laelaps_speed.application Class Reference

Laelaps diagnositcs application class. More...

Public Member Functions
def	__init__ (self)
	Constructor.
def	printUsageErr (self, emsg)
	Print usage error. More...
def	printUsage (self)
	Print Command-Line Usage Message. More...
def	getOptions (self, argv=None, kwargs)
	Get command-line options. More...
def	run (self, argv=None, kwargs)
	Run application. More...

Public Attributes
	m_win
	kwargs

Detailed Description

Laelaps diagnositcs application class.

Definition at line 376 of file laelaps_speed.py.

Member Function Documentation

def laelaps_speed.application.getOptions	(		self,
			argv = None,
			kwargs
	)

Get command-line options.

Parameters

	argv	Argument list. If not None, then overrides command-line arguments.
[out]	kwargs	Keyword argument list.

Returns

Parsed keyword arguments.

Definition at line 430 of file laelaps_speed.py.

References laelaps_sane.application._Argv0, laelaps_speed.application._Argv0, laelaps_diag.application._Argv0, laelaps_init.application._Argv0, laelaps_sane.application.printUsage(), laelaps_speed.application.printUsage(), laelaps_diag.application.printUsage(), laelaps_init.application.printUsage(), laelaps_sane.application.printUsageErr(), laelaps_speed.application.printUsageErr(), laelaps_diag.application.printUsageErr(), and laelaps_init.application.printUsageErr().

Referenced by laelaps_speed.application.run(), and laelaps_tune_motors.application.run().

  def getOptions(self, argv=None, **kwargs):
    if argv is None:
      argv = sys.argv

    self._Argv0 = os.path.basename(kwargs.get('argv0', __file__))

    # defaults
    kwargs['debug'] = False
    kwargs['fake']  = False

    # parse command-line options
    try:
      opts, args = getopt.getopt(argv[1:], "f?h",
          ['help', 'fake', ''])
    except getopt.error, msg:
      raise usage(msg)
    for opt, optarg in opts:
      if opt in ('-f', '--fake'):
        kwargs['fake'] = True
      elif opt in ('-h', '--help', '-?'):
        self.printUsage()
        sys.exit(0)

    if len(args) < 1:
      self.printUsageErr("No motor specified.")
      sys.exit(128)
    elif len(args) < 2:
      self.printUsageErr("No speed specified.")
      sys.exit(128)

    kwargs['motor'] = None
    try:
      i = int(args[0])
      if (i >= 0) and (i < len(MotorNames)):
        kwargs['motor'] = MotorNames[i]
    except ValueError:
      try:
        i = MotorNames.index(args[0])
        kwargs['motor'] = args[0]
      except ValueError:
        pass

    if kwargs['motor'] is None:
      self.printUsageErr("{0}: Not a motor.".format(args[0]))
      sys.exit(128)

    try:
      kwargs['speed'] = int(args[1])
    except ValueError:
      self.printUsageErr("%s: Not an integer." % (args[1]))
      sys.exit(128)

    return kwargs

def laelaps_speed.application.printUsage

(

self

)

Print Command-Line Usage Message.

Definition at line 398 of file laelaps_speed.py.

References laelaps_sane.application._Argv0, laelaps_speed.application._Argv0, laelaps_diag.application._Argv0, and laelaps_init.application._Argv0.

Referenced by laelaps_speed.application.getOptions(), and laelaps_tune_motors.application.getOptions().

  def printUsage(self):
    print \
"""
usage: %s [OPTIONS] MOTOR SPEED
       %s --help

Run Laelaps speed test.

Options and arguments:
    --fake        : Run diagnostics on fake hardware."
-h, --help        : Display this help and exit.

MOTOR             : Motor name/id to test. One of:
  left_front right_front left_rear right_rear
    or
  0 1 2 3
SPEED             : Signed qpps speed of motor, with positive being forwards.

Exit Status:
  On success, 0. An exit status of 128 indicates usage 
  error.
"""  % (self._Argv0, self._Argv0)
 

def laelaps_speed.application.printUsageErr	(		self,
			emsg
	)

Print usage error.

Parameters

emsg	Error message string.

Definition at line 390 of file laelaps_speed.py.

References laelaps_sane.application._Argv0, laelaps_speed.application._Argv0, laelaps_diag.application._Argv0, and laelaps_init.application._Argv0.

Referenced by laelaps_speed.application.getOptions().

  def printUsageErr(self, emsg):
    if emsg:
      print "%s: Error: %s" % (self._Argv0, emsg)
    else:
      print "%s: Error" % (self._Argv0)
    print "Try '%s --help' for more information." % (self._Argv0)

def laelaps_speed.application.run	(		self,
			argv = None,
			kwargs
	)

Run application.

Parameters

argv	Optional argument list to override command-line arguments.
kwargs	Optional keyword argument list.

Returns

Exit code.

Definition at line 492 of file laelaps_speed.py.

References laelaps_sane.application.getOptions(), laelaps_speed.application.getOptions(), laelaps_diag.application.getOptions(), laelaps_init.application.getOptions(), laelaps_sane.Sanity.kwargs, laelaps_diag.DiagMotors.kwargs, laelaps_speed.Speed.kwargs, laelaps_sane.application.kwargs, laelaps_diag.DiagToFs.kwargs, laelaps_speed.application.kwargs, laelaps_diag.DiagImu.kwargs, laelaps_diag.DiagWatchdog.kwargs, and laelaps_diag.application.kwargs.

  def run(self, argv=None, **kwargs):
  
    # parse command-line options and arguments
    try:
      self.kwargs = self.getOptions(argv, **kwargs)
    except usage, e:
      print e.msg
      return 128
    
    en = MotorCtlrEnable()
    en.enable()

    go = Speed(self.kwargs)
    go.run(en.keepalive)

    en.cleanup()
      

# ------------------------------------------------------------------------------
# main
# ------------------------------------------------------------------------------

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

• sw/scripts/laelaps_speed.py