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Thrust_stand_control_1780.ipynb
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| { | |
| "cells": [ | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# Boilerplate python\n", | |
| "from __future__ import absolute_import, division, print_function\n", | |
| "from builtins import * # @UnusedWildImport\n", | |
| "from pprint import pprint\n", | |
| "\n", | |
| "import math\n", | |
| "import numbers\n", | |
| "\n", | |
| "import binascii\n", | |
| "from cffi import FFI\n", | |
| "import threading\n", | |
| "import queue\n", | |
| "import pause\n", | |
| "\n", | |
| "import time\n", | |
| "import datetime\n", | |
| "\n", | |
| "import random\n" | |
| ], | |
| "outputs": [], | |
| "execution_count": 69, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:32:01.710Z", | |
| "iopub.execute_input": "2020-08-06T23:32:01.721Z", | |
| "iopub.status.idle": "2020-08-06T23:32:01.736Z", | |
| "shell.execute_reply": "2020-08-06T23:32:01.747Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# ESC & Motor" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "numMagneticPoles = 2\n", | |
| "motorAVoltageScaling = 1\n", | |
| "motorACurrentScaling = 1\n", | |
| "motorAThrustScaling = 1" | |
| ], | |
| "outputs": [], | |
| "execution_count": 78, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:37:11.132Z", | |
| "iopub.execute_input": "2020-08-06T23:37:11.144Z", | |
| "iopub.status.idle": "2020-08-06T23:37:11.163Z", | |
| "shell.execute_reply": "2020-08-06T23:37:11.179Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# Measurement Computing\n", | |
| "\n", | |
| "First configure the Measurement Computing DAQ module" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "from mcculw import ul\n", | |
| "from mcculw.enums import TempScale\n", | |
| "from mcculw.ul import ULError\n", | |
| "from mcculw.enums import InterfaceType" | |
| ], | |
| "outputs": [], | |
| "execution_count": 41, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:22.741Z", | |
| "iopub.execute_input": "2020-08-06T23:26:22.749Z", | |
| "shell.execute_reply": "2020-08-06T23:26:22.767Z", | |
| "iopub.status.idle": "2020-08-06T23:26:22.760Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# Define channels we wish to monitor\n", | |
| "temperatureChannels = [0,1,2,3,4,5]" | |
| ], | |
| "outputs": [], | |
| "execution_count": 42, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:22.953Z", | |
| "iopub.execute_input": "2020-08-06T23:26:22.960Z", | |
| "iopub.status.idle": "2020-08-06T23:26:22.972Z", | |
| "shell.execute_reply": "2020-08-06T23:26:22.980Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "def config_first_detected_device(board_num):\n", | |
| " \"\"\"Adds the first available device to the UL.\n", | |
| "\n", | |
| " Parameters\n", | |
| " ----------\n", | |
| " board_num : int, optional\n", | |
| " The board number to assign to the board when configuring the device.\n", | |
| "\n", | |
| " Returns\n", | |
| " -------\n", | |
| " boolean\n", | |
| " True if a device was found and added, False if no devices were\n", | |
| " found. \n", | |
| " \"\"\"\n", | |
| "\n", | |
| " # Get the device inventory\n", | |
| " devices = ul.get_daq_device_inventory(InterfaceType.ANY)\n", | |
| " # Check if any devices were found\n", | |
| " if len(devices) > 0:\n", | |
| " device = devices[0]\n", | |
| " # Print a messsage describing the device found\n", | |
| " print(\"Found device: \" + device.product_name +\n", | |
| " \" (\" + device.unique_id + \")\\n\")\n", | |
| " # Add the device to the UL.\n", | |
| " ul.create_daq_device(board_num, device)\n", | |
| " return True\n", | |
| "\n", | |
| " return False\n", | |
| " \n", | |
| "def readTemperature(channel):\n", | |
| " value = [None] * len(channel)\n", | |
| " \n", | |
| " for i in channel:\n", | |
| " try:\n", | |
| " value[i] = ul.t_in(board_num, i, TempScale.CELSIUS)\n", | |
| " except:\n", | |
| " value[i] = 'Disconnected'\n", | |
| " return value\n" | |
| ], | |
| "outputs": [], | |
| "execution_count": 43, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:23.167Z", | |
| "iopub.execute_input": "2020-08-06T23:26:23.175Z", | |
| "iopub.status.idle": "2020-08-06T23:26:23.188Z", | |
| "shell.execute_reply": "2020-08-06T23:26:23.196Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# It's unlikely we acquire a second Measurement Computing board, so for the moment it's safe to assume it's the only board present.\n", | |
| "board_num = 0\n", | |
| "\n", | |
| "# Try to automatically find and configure device. No fall back in case this fails!\n", | |
| "ul.ignore_instacal()\n", | |
| "if not config_first_detected_device(board_num):\n", | |
| " print(\"Could not find device.\")\n" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "name": "stdout", | |
| "text": [ | |
| "Found device: USB-TEMP (1A6A4A4)\n", | |
| "\n" | |
| ] | |
| } | |
| ], | |
| "execution_count": 44, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:23.380Z", | |
| "iopub.execute_input": "2020-08-06T23:26:23.388Z", | |
| "iopub.status.idle": "2020-08-06T23:26:23.507Z", | |
| "shell.execute_reply": "2020-08-06T23:26:23.556Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# Perform a quick sample of all channels. This will print an error if any channels are unconnected to thermocouples\n", | |
| "temperatureReading = readTemperature(temperatureChannels)\n", | |
| "\n", | |
| "print(temperatureReading)" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "name": "stdout", | |
| "text": [ | |
| "[26.51288414001465, 'Disconnected', 'Disconnected', 'Disconnected', 'Disconnected', 'Disconnected']\n" | |
| ] | |
| } | |
| ], | |
| "execution_count": 45, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:23.570Z", | |
| "iopub.execute_input": "2020-08-06T23:26:23.580Z", | |
| "iopub.status.idle": "2020-08-06T23:26:23.596Z", | |
| "shell.execute_reply": "2020-08-06T23:26:23.637Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# LabJack" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "import u3" | |
| ], | |
| "outputs": [], | |
| "execution_count": 46, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:23.973Z", | |
| "iopub.execute_input": "2020-08-06T23:26:23.981Z", | |
| "shell.execute_reply": "2020-08-06T23:26:24.001Z", | |
| "iopub.status.idle": "2020-08-06T23:26:23.994Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "TimerClockBase = 6 # 6 is the enum for 48MHz\n", | |
| "\n", | |
| "TimerFrequency = 48e6 # 48 Mhz\n", | |
| "\n", | |
| "# PWM frequency = (TimerFrequency / 2^16) / TimerClockDivisor\n", | |
| "TimerClockDivisor = 2\n", | |
| "\n", | |
| "SINGLE_ENDED = 31\n", | |
| "SPECIAL_3V6_RANGE = 32" | |
| ], | |
| "outputs": [], | |
| "execution_count": 47, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:24.212Z", | |
| "iopub.execute_input": "2020-08-06T23:26:24.219Z", | |
| "iopub.status.idle": "2020-08-06T23:26:24.230Z", | |
| "shell.execute_reply": "2020-08-06T23:26:24.237Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "try:\n", | |
| " d = u3.U3()\n", | |
| " pprint(d.getCalibrationData())\n", | |
| "except Exception as e:\n", | |
| " print(\"[ERROR]: \"+ str(e))" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "name": "stdout", | |
| "text": [ | |
| "{'dac0Offset': -0.6108887793961912,\n", | |
| " 'dac0Slope': 51.65718947863206,\n", | |
| " 'dac1Offset': -0.8383769274223596,\n", | |
| " 'dac1Slope': 51.63090718537569,\n", | |
| " 'hvAIN0Offset': -0.42649758444167674,\n", | |
| " 'hvAIN0Slope': 7.048225961625576e-05,\n", | |
| " 'hvAIN1Offset': -0.4109869464300573,\n", | |
| " 'hvAIN1Slope': 7.006712257862091e-05,\n", | |
| " 'hvAIN2Offset': -0.42627710197120905,\n", | |
| " 'hvAIN2Slope': 7.04785343259573e-05,\n", | |
| " 'hvAIN3Offset': -0.41075132600963116,\n", | |
| " 'hvAIN3Slope': 7.006386294960976e-05,\n", | |
| " 'lvDiffOffset': -2.4595058413688093,\n", | |
| " 'lvDiffSlope': 7.478427141904831e-05,\n", | |
| " 'lvSEOffset': 0.0038205122109502554,\n", | |
| " 'lvSESlope': 3.7300167605280876e-05,\n", | |
| " 'tempSlope': 0.012705469038337469,\n", | |
| " 'vRef1.5AtCal': 0.0,\n", | |
| " 'vRefAtCAl': 2.45870645577088,\n", | |
| " 'vRegAtCal': 0.0}\n" | |
| ] | |
| } | |
| ], | |
| "execution_count": 48, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:24.466Z", | |
| "iopub.execute_input": "2020-08-06T23:26:24.476Z", | |
| "iopub.status.idle": "2020-08-06T23:26:24.496Z", | |
| "shell.execute_reply": "2020-08-06T23:26:24.507Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# Configure LabJack IO ports\n", | |
| "# This register sets individual ports (from 1..8) to analog (1) or digital (0). \n", | |
| "# Therefor, 0b00010011 has the 1st, 2nd, and 5th ports as analog inputs and the others as digital inputs\n", | |
| "FIOAnalog = 0b00001111\n", | |
| "\n", | |
| "# Execute configuration\n", | |
| "d.configIO(FIOAnalog=FIOAnalog, NumberOfTimersEnabled=1, TimerCounterPinOffset = 4, EnableCounter1=True)\n", | |
| "\n", | |
| "# Configure Timers\n", | |
| "d.configTimerClock(TimerClockBase=TimerClockBase, TimerClockDivisor=TimerClockDivisor)" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "execute_result", | |
| "execution_count": 49, | |
| "data": { | |
| "text/plain": [ | |
| "{'TimerClockBase': 6, 'TimerClockDivisor': 2}" | |
| ] | |
| }, | |
| "metadata": {} | |
| } | |
| ], | |
| "execution_count": 49, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:24.640Z", | |
| "iopub.execute_input": "2020-08-06T23:26:24.649Z", | |
| "iopub.status.idle": "2020-08-06T23:26:24.666Z", | |
| "shell.execute_reply": "2020-08-06T23:26:24.674Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "\n", | |
| "\n", | |
| "bits = d.getFeedback(u3.AIN(0, 31))[0]\n", | |
| "d.binaryToCalibratedAnalogVoltage(bits, isLowVoltage=True, isSingleEnded = True, isSpecialSetting=True)\n", | |
| "\n", | |
| "print(d.binaryToCalibratedAnalogVoltage(bits, isSpecialSetting=True))\n", | |
| "print(bits)\n", | |
| "\n", | |
| "d.setFIOState(7, state = 1)\n", | |
| "d.getAIN(0,32)\n" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "name": "stdout", | |
| "text": [ | |
| "0.930115225026384\n", | |
| "12448\n" | |
| ] | |
| }, | |
| { | |
| "output_type": "execute_result", | |
| "execution_count": 50, | |
| "data": { | |
| "text/plain": [ | |
| "1.9974363467190415" | |
| ] | |
| }, | |
| "metadata": {} | |
| } | |
| ], | |
| "execution_count": 50, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:24.793Z", | |
| "iopub.execute_input": "2020-08-06T23:26:24.802Z", | |
| "iopub.status.idle": "2020-08-06T23:26:24.827Z", | |
| "shell.execute_reply": "2020-08-06T23:26:24.836Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# RCBenchmark definitions" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "ffi = FFI()\n", | |
| "\n", | |
| "# Define a set of structures taken from https://gitlab.com/TytoRobotics/TestPlatformFirmware/-/blob/v2.10/TestPlatformFirmware/types.h\n", | |
| "\n", | |
| "ffi.cdef(\"\"\"\n", | |
| "#define TEMP_PROBES_QTY 6 //how many temp probes we support (dynamic)\n", | |
| "\n", | |
| "//Board info\n", | |
| "typedef struct {\n", | |
| " uint8_t version;\n", | |
| " uint8_t id[8];\n", | |
| " uint8_t pSensorAvailable;\n", | |
| " uint8_t tempProbeQty;\n", | |
| " uint8_t tempProbes[TEMP_PROBES_QTY][8];\n", | |
| " uint8_t s1780_PSA : 1;\n", | |
| " uint8_t s1780_LCA : 1;\n", | |
| " uint8_t s1780_PSB : 1;\n", | |
| " uint8_t s1780_LCB : 1;\n", | |
| " uint8_t s1780_PSA_BoardVersion;\n", | |
| " uint8_t s1780_LCA_BoardVersion;\n", | |
| " uint8_t s1780_PSB_BoardVersion;\n", | |
| " uint8_t s1780_LCB_BoardVersion;\n", | |
| "} board_info_t;\n", | |
| "\n", | |
| "//Information about this firwmare\n", | |
| "typedef struct {\n", | |
| "\tuint8_t com_protocol_version, major, minor;\n", | |
| "} firmware_info_t;\n", | |
| "\n", | |
| "//Control inputs from PC for the s1780\n", | |
| "typedef struct {\n", | |
| " uint16_t A_PWM;\n", | |
| " uint16_t A_Servo;\n", | |
| " uint16_t B_PWM;\n", | |
| " uint16_t B_Servo;\n", | |
| " uint8_t reverseCutoffSwitch;\n", | |
| "} s1780_control_t;\n", | |
| "\n", | |
| "//s1780 polled sensors\n", | |
| "typedef struct {\n", | |
| " float A_voltage; //in V\n", | |
| " float A_current; //in A\n", | |
| " float A_forces_N[6]; //FX,FY,FZ,TX,TY,TZ\n", | |
| " //float A_brushless_hz; //motor brushless_hz\n", | |
| " float A_optical_hz; //motor optical_hz\n", | |
| " float tempC[TEMP_PROBES_QTY]; //temperature probes\n", | |
| " int16_t pressureP; //converted to the correct unit by the GUI\n", | |
| " int16_t pressureT; //converted to the correct unit by the GUI\n", | |
| " float B_voltage; //in V\n", | |
| " float B_current; //in A\n", | |
| " float B_forces_N[6]; //FX,FY,FZ,TX,TY,TZ\n", | |
| " //float A_brushless_hz; //motor brushless_hz\n", | |
| " float B_optical_hz; //motor optical_hz\n", | |
| " uint8_t overload : 1;\n", | |
| " uint8_t limitswitch : 1;\n", | |
| "} s1780_sensors_t;\n", | |
| "\n", | |
| "//s1780 extra debug\n", | |
| "typedef struct {\n", | |
| " float A_raw[6]; //FX,FY,FZ,TX,TY,TZ\n", | |
| " float B_raw[6]; //FX,FY,FZ,TX,TY,TZ\n", | |
| "} s1780_debug_t;\n", | |
| "\n", | |
| "\"\"\", packed=True) # `packed=False` ensures that the values are not byte-aligned. Typically in another bytestream these structs would be packed, but perhaps the developers at RCBenchmark did not think about doing that\n", | |
| "\n", | |
| "sensorData = ffi.new(\"s1780_sensors_t*\")\n", | |
| "controlData = ffi.new(\"s1780_control_t*\")\n", | |
| "firmwareData = ffi.new(\"firmware_info_t*\")\n", | |
| "boardData = ffi.new(\"board_info_t*\")\n", | |
| "debugData = ffi.new(\"s1780_debug_t*\")" | |
| ], | |
| "outputs": [], | |
| "execution_count": 51, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:25.146Z", | |
| "iopub.execute_input": "2020-08-06T23:26:25.155Z", | |
| "iopub.status.idle": "2020-08-06T23:26:25.170Z", | |
| "shell.execute_reply": "2020-08-06T23:26:25.193Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# Serial port\n", | |
| "\n", | |
| "Configure the serial port to dialog with the RCBenchmark software" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "import serial" | |
| ], | |
| "outputs": [], | |
| "execution_count": 52, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:25.757Z", | |
| "iopub.execute_input": "2020-08-06T23:26:25.765Z", | |
| "iopub.status.idle": "2020-08-06T23:26:25.778Z", | |
| "shell.execute_reply": "2020-08-06T23:26:25.787Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "port = \"COM10\"\n", | |
| "\n", | |
| "# Open serial port\n", | |
| "try:\n", | |
| " serialPort = serial.Serial(port = port, baudrate=250000, timeout=0)\n", | |
| "except Exception as e:\n", | |
| " print(\"[ERROR]: \" + str(e))" | |
| ], | |
| "outputs": [], | |
| "execution_count": 53, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:26.479Z", | |
| "iopub.execute_input": "2020-08-06T23:26:26.486Z", | |
| "iopub.status.idle": "2020-08-06T23:26:26.496Z", | |
| "shell.execute_reply": "2020-08-06T23:26:26.504Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# RCBenchmark Serial Protocol" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "def processRCBenchmarkCommand(command, payload):\n", | |
| " # Ignore [Command = 0] as there's nothing to process\n", | |
| " if command == 0: \n", | |
| " return\n", | |
| " \n", | |
| " # [Command = 5] contains throttle commands\n", | |
| " if command == 5:\n", | |
| " # Copy the payload to the control data structure\n", | |
| " D_buffer = ffi.buffer(controlData)\n", | |
| " D_buffer[:] = payload\n", | |
| " \n", | |
| " return" | |
| ], | |
| "outputs": [], | |
| "execution_count": 54, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:27.318Z", | |
| "iopub.execute_input": "2020-08-06T23:26:27.326Z", | |
| "iopub.status.idle": "2020-08-06T23:26:27.338Z", | |
| "shell.execute_reply": "2020-08-06T23:26:27.345Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [], | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "name": "stdout", | |
| "text": [ | |
| "Done!\n" | |
| ] | |
| } | |
| ], | |
| "execution_count": 90, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T18:47:22.831Z", | |
| "iopub.execute_input": "2020-08-06T18:47:22.840Z", | |
| "iopub.status.idle": "2020-08-06T18:47:47.810Z", | |
| "shell.execute_reply": "2020-08-06T18:47:47.789Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "### Serial comms parser" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "INBUF_SIZE = 64\n", | |
| "MAX_CMD_VALUE = 6\n", | |
| "\n", | |
| "COMM_IDLE = 0\n", | |
| "PKT_HEADER_MAGIC_2 = 1\n", | |
| "PKT_HEADER_MAGIC_3 = 2\n", | |
| "PKT_HEADER_PAYLOAD_LENGTH = 3\n", | |
| "PKT_HEADER_CMD = 4\n", | |
| "PKT_PAYLOAD = 5\n", | |
| "PKT_CHECKSUM = 6\n", | |
| "\n", | |
| "state = COMM_IDLE\n", | |
| "def receiveData(c):\n", | |
| " global state\n", | |
| " global checksum\n", | |
| "\n", | |
| " global payloadCounter\n", | |
| " global payloadLength\n", | |
| " global payloadBuffer\n", | |
| " global commandTmp\n", | |
| " \n", | |
| " if state == COMM_IDLE:\n", | |
| " if c == ord('$'):\n", | |
| " state = PKT_HEADER_MAGIC_2\n", | |
| " elif state == PKT_HEADER_MAGIC_2:\n", | |
| " if c == ord('R'):\n", | |
| " state = PKT_HEADER_MAGIC_3\n", | |
| " else:\n", | |
| " print(\"[UART]: Expected magic 'R', got \" + str(c))\n", | |
| " state = COMM_IDLE\n", | |
| " elif state == PKT_HEADER_MAGIC_3:\n", | |
| " if c == ord('<'): \n", | |
| " state = PKT_HEADER_PAYLOAD_LENGTH\n", | |
| " \n", | |
| " checksum = 0\n", | |
| " else: \n", | |
| " print(\"[UART]: Expected magic '<', got \" + str(c))\n", | |
| " \n", | |
| " state = COMM_IDLE\n", | |
| " elif state == PKT_HEADER_PAYLOAD_LENGTH:\n", | |
| " # Check that the buffer size is sane\n", | |
| " if c > INBUF_SIZE:\n", | |
| " print(\"[UART]: Declared payload size \" + str(c) + \", however the maximum accepted command value is \" + str(INBUF_SIZE))\n", | |
| " state = COMM_IDLE\n", | |
| " else:\n", | |
| " payloadCounter = 0\n", | |
| " payloadLength = c\n", | |
| " payloadBuffer = [None] * payloadLength\n", | |
| " \n", | |
| " checksum = checksum ^ c\n", | |
| " \n", | |
| " state = PKT_HEADER_CMD\n", | |
| " elif state == PKT_HEADER_CMD:\n", | |
| " # Check that the command is sane\n", | |
| " if c > MAX_CMD_VALUE:\n", | |
| " print(\"[UART]: Received command \" + str(c) + \", however the maximum accepted command value is \" + str(MAX_CMD_VALUE))\n", | |
| " state = COMM_IDLE\n", | |
| " else: \n", | |
| " checksum = checksum ^c\n", | |
| " \n", | |
| " commandTmp = c\n", | |
| " \n", | |
| " if payloadLength != 0:\n", | |
| " state = PKT_PAYLOAD\n", | |
| " else:\n", | |
| " state = PKT_CHECKSUM\n", | |
| " elif state == PKT_PAYLOAD:\n", | |
| " payloadBuffer[payloadCounter] = c\n", | |
| " payloadCounter = payloadCounter + 1\n", | |
| "\n", | |
| " checksum = checksum ^c\n", | |
| " \n", | |
| " if payloadCounter >= payloadLength:\n", | |
| " state = PKT_CHECKSUM\n", | |
| " elif state == PKT_CHECKSUM:\n", | |
| " # This is the end of the road for this FSM, so because we have retursn in the `if:` statement go ahead and already set the state\n", | |
| " state = COMM_IDLE\n", | |
| " \n", | |
| " if c != checksum:\n", | |
| " print(\"[UART] CRC error, expected \" + str(c) + \", got \" + str(checksum))\n", | |
| " else:\n", | |
| " return commandTmp, payloadBuffer\n", | |
| "\n", | |
| "\n", | |
| " # Default returned empty tuple\n", | |
| " return None, None\n" | |
| ], | |
| "outputs": [], | |
| "execution_count": 55, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:28.496Z", | |
| "iopub.execute_input": "2020-08-06T23:26:28.503Z", | |
| "iopub.status.idle": "2020-08-06T23:26:28.516Z", | |
| "shell.execute_reply": "2020-08-06T23:26:28.524Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "### Serial comms utilities" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "'''\n", | |
| "Computes the checksum starting from the third byte of the packet\n", | |
| "'''\n", | |
| "def computeChecksum(packet):\n", | |
| " crc = 0\n", | |
| " \n", | |
| " for i in range(3, len(packet)):\n", | |
| " crc = crc ^ packet[i]\n", | |
| " \n", | |
| " return crc\n", | |
| "\n", | |
| "def generateHeader(payloadLength, payloadType):\n", | |
| " # Initialize empty array\n", | |
| " header = bytearray()\n", | |
| "\n", | |
| " header.append(ord('$'))\n", | |
| " header.append(ord('R'))\n", | |
| " header.append(ord('>'))\n", | |
| " \n", | |
| " header.append(payloadLength)\n", | |
| " header.append(payloadType)\n", | |
| " \n", | |
| " return header\n", | |
| " \n", | |
| "'''\n", | |
| "Takes a CFFI struct, extracts the buffer, and returns it as a bytearray\n", | |
| "'''\n", | |
| "def marshallPayload(payload):\n", | |
| " \n", | |
| " cffi_buffer = ffi.buffer(payload)\n", | |
| "\n", | |
| " # Initialize empty array\n", | |
| " payload = bytearray(cffi_buffer)\n", | |
| " \n", | |
| " return payload\n", | |
| "\n", | |
| "def generateFooter(packet):\n", | |
| " # initialize the footer\n", | |
| " footer = bytearray()\n", | |
| "\n", | |
| " # Compute the checksum from the packet\n", | |
| " checkSum = computeChecksum(packet)\n", | |
| " \n", | |
| " # Construct the footer\n", | |
| " footer.append(checkSum)\n", | |
| " \n", | |
| " return footer\n", | |
| "\n", | |
| "'''\n", | |
| " Transmits the board response for the 1780\n", | |
| "'''\n", | |
| "def transmitPollResponse(sensorData):\n", | |
| "\n", | |
| " payloadLength = ffi.sizeof(sensorData[0])\n", | |
| " \n", | |
| " # Generate the header\n", | |
| " header = generateHeader(payloadLength, 5)\n", | |
| " \n", | |
| " # Marshall the payload\n", | |
| " sensorPayload = marshallPayload(sensorData)\n", | |
| " \n", | |
| " # Assemble the partial packet\n", | |
| " partialPacket = header + sensorPayload\n", | |
| " \n", | |
| " # Create the footer, using the partial packet\n", | |
| " footer = generateFooter(partialPacket)\n", | |
| " \n", | |
| " # Assemble the full packet\n", | |
| " packet = partialPacket + footer\n", | |
| " \n", | |
| " # Write the data to the serial port\n", | |
| " serialPort.write(packet)\n", | |
| "\n", | |
| " return\n", | |
| "\n", | |
| "def transmitFirmwareResponse(firmwareData):\n", | |
| " payloadLength = ffi.sizeof(firmwareData[0])\n", | |
| " \n", | |
| " # Generate the header\n", | |
| " header = generateHeader(payloadLength, 1)\n", | |
| " \n", | |
| " # Marshall the payload\n", | |
| " firmwarePayload = marshallPayload(firmwareData)\n", | |
| " \n", | |
| " # Assemble the partial packet\n", | |
| " partialPacket = header + firmwarePayload\n", | |
| " \n", | |
| " # Create the footer, using the partial packet\n", | |
| " footer = generateFooter(partialPacket)\n", | |
| " \n", | |
| " # Assemble the full packet\n", | |
| " packet = partialPacket + footer\n", | |
| " \n", | |
| " # Write the data to the serial port\n", | |
| " serialPort.write(packet)\n", | |
| " \n", | |
| "def transmitBoardResponse(boardData):\n", | |
| " payloadLength = ffi.sizeof(boardData[0])\n", | |
| " \n", | |
| " # Generate the header\n", | |
| " header = generateHeader(payloadLength, 2)\n", | |
| " \n", | |
| " # Marshall the payload\n", | |
| " boardPayload = marshallPayload(boardData)\n", | |
| " \n", | |
| " # Assemble the partial packet\n", | |
| " partialPacket = header + boardPayload\n", | |
| " \n", | |
| " # Create the footer, using the partial packet\n", | |
| " footer = generateFooter(partialPacket)\n", | |
| " \n", | |
| " # Assemble the full packet\n", | |
| " packet = partialPacket + footer\n", | |
| " \n", | |
| " # Write the data to the serial port\n", | |
| " serialPort.write(packet)\n", | |
| " \n", | |
| " print(packet)" | |
| ], | |
| "outputs": [], | |
| "execution_count": 56, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:30.177Z", | |
| "iopub.execute_input": "2020-08-06T23:26:30.185Z", | |
| "iopub.status.idle": "2020-08-06T23:26:30.196Z", | |
| "shell.execute_reply": "2020-08-06T23:26:30.203Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# Flush the queue on the GUI\n", | |
| "serialPort.write(b'\\r\\n')\n", | |
| "\n", | |
| "serialPort.write(b'Ready\\r\\n')\n", | |
| "\n", | |
| "#==============\n", | |
| "time.sleep(0.1)\n", | |
| "serialPort.write(b'reading the port\\r\\n')\n", | |
| "print(serialPort.read(100))\n", | |
| "\n", | |
| "#==============\n", | |
| "RCB_VERSION = 0\n", | |
| "FIRMWARE_MAJOR = 2\n", | |
| "FIRMWARE_MINOR = 10\n", | |
| "\n", | |
| "firmwareData.com_protocol_version = RCB_VERSION\n", | |
| "firmwareData.major = FIRMWARE_MAJOR\n", | |
| "firmwareData.minor = FIRMWARE_MINOR\n", | |
| "\n", | |
| "transmitFirmwareResponse(firmwareData)\n", | |
| "\n", | |
| "# =============================\n", | |
| "time.sleep(0.5)\n", | |
| "serialPort.write(b'reading the port\\r\\n')\n", | |
| "print(serialPort.read(100))\n", | |
| "\n", | |
| "# =============================\n", | |
| "\n", | |
| "# version 0011 -> series 1780 v1\n", | |
| "\n", | |
| "boardData.version = 4 # Add + 1 to the version\n", | |
| "boardData.id[0] = 0\n", | |
| "boardData.id[1] = 222\n", | |
| "boardData.id[2] = 173\n", | |
| "boardData.id[3] = 0\n", | |
| "boardData.id[4] = 190\n", | |
| "boardData.id[5] = 239\n", | |
| "boardData.id[6] = 0\n", | |
| "boardData.id[7] = 0\n", | |
| "boardData.tempProbeQty = 6\n", | |
| "\n", | |
| "boardData.s1780_PSA = True\n", | |
| "boardData.s1780_LCA = True\n", | |
| "boardData.s1780_PSB = True\n", | |
| "boardData.s1780_LCB = True\n", | |
| "boardData.s1780_PSA_BoardVersion = 4 # Set power-supply board (Side A) to v4 (which is highest power)\n", | |
| "boardData.s1780_LCA_BoardVersion = 4 # Set load-cell board (Side A) to v4 (which is highest forces)\n", | |
| "boardData.s1780_PSB_BoardVersion = 4 # Set power-supply board (Side A) to v4 (which is highest power)\n", | |
| "boardData.s1780_LCB_BoardVersion = 4 # Set load-cell board (Side A) to v4 (which is highest forces)\n", | |
| "\n", | |
| "# Make up some arbitrary identifiers for the temperature probes\n", | |
| "D_buffer = ffi.buffer(boardData.tempProbes[0])\n", | |
| "D_buffer[:] = b'\\x01\\x02\\x03\\x04\\x15\\x01\\x07\\x03'\n", | |
| "D_buffer = ffi.buffer(boardData.tempProbes[1])\n", | |
| "D_buffer[:] = b'\\x01\\x02\\x03\\x04\\x05\\x22\\x07\\x04'\n", | |
| "D_buffer = ffi.buffer(boardData.tempProbes[2])\n", | |
| "D_buffer[:] = b'\\x01\\x02\\x03\\x04\\x35\\x03\\x07\\x05'\n", | |
| "D_buffer = ffi.buffer(boardData.tempProbes[3])\n", | |
| "D_buffer[:] = b'\\x01\\x02\\x03\\x04\\x05\\x44\\x07\\x06'\n", | |
| "D_buffer = ffi.buffer(boardData.tempProbes[4])\n", | |
| "D_buffer[:] = b'\\x01\\x02\\x03\\x04\\x55\\x05\\x07\\x07'\n", | |
| "D_buffer = ffi.buffer(boardData.tempProbes[5])\n", | |
| "D_buffer[:] = b'\\x01\\x02\\x03\\x04\\x05\\x66\\x07\\x08'\n", | |
| "transmitBoardResponse(boardData)\n", | |
| "\n", | |
| "#============================\n", | |
| "time.sleep(0.5)\n", | |
| "serialPort.write(b'reading the port\\r\\n')\n", | |
| "print(serialPort.read(100))\n" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "name": "stdout", | |
| "text": [ | |
| "b'$R<\\x00\\x01\\x01'\n", | |
| "b'$R<\\x00\\x02\\x02'\n", | |
| "bytearray(b'$R>@\\x02\\x04\\x00\\xde\\xad\\x00\\xbe\\xef\\x00\\x00\\x00\\x06\\x01\\x02\\x03\\x04\\x15\\x01\\x07\\x03\\x01\\x02\\x03\\x04\\x05\"\\x07\\x04\\x01\\x02\\x03\\x045\\x03\\x07\\x05\\x01\\x02\\x03\\x04\\x05D\\x07\\x06\\x01\\x02\\x03\\x04U\\x05\\x07\\x07\\x01\\x02\\x03\\x04\\x05f\\x07\\x08\\x0f\\x04\\x04\\x04\\x04\\x11')\n", | |
| "b'$R<\\x00\\x00\\x00$R<\\t\\x05\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x00\\x0c'\n" | |
| ] | |
| } | |
| ], | |
| "execution_count": 58, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:52.423Z", | |
| "iopub.execute_input": "2020-08-06T23:26:52.433Z", | |
| "iopub.status.idle": "2020-08-06T23:26:53.511Z", | |
| "shell.execute_reply": "2020-08-06T23:26:53.563Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "import random \n", | |
| "\n", | |
| "# //s1780 polled sensors\n", | |
| "# typedef struct {\n", | |
| "# float A_voltage; //in V\n", | |
| "# float A_current; //in A\n", | |
| "# float A_forces_N[6]; //FX,FY,FZ,TX,TY,TZ\n", | |
| "# //float A_brushless_hz; //motor brushless_hz\n", | |
| "# float A_optical_hz; //motor optical_hz\n", | |
| "# float tempC[TEMP_PROBES_QTY]; //temperature probes\n", | |
| "# int16_t pressureP; //converted to the correct unit by the GUI\n", | |
| "# int16_t pressureT; //converted to the correct unit by the GUI\n", | |
| "# float B_voltage; //in V\n", | |
| "# float B_current; //in A\n", | |
| "# float B_forces_N[6]; //FX,FY,FZ,TX,TY,TZ\n", | |
| "# //float A_brushless_hz; //motor brushless_hz\n", | |
| "# float B_optical_hz; //motor optical_hz\n", | |
| "# uint8_t overload : 1;\n", | |
| "# uint8_t limitswitch : 1;\n", | |
| "# } s1780_sensors_t;\n", | |
| "\n", | |
| "\n", | |
| "for i in range(6):\n", | |
| " sensorData.A_voltage = 10.23 + .5*random.random()\n", | |
| " sensorData.B_voltage = 10.23 - .5*random.random()\n", | |
| "\n", | |
| " sensorData.A_current = 50.23 + .5*random.random()\n", | |
| " sensorData.B_current = 50.23 - .5*random.random()\n", | |
| "\n", | |
| " sensorData.A_optical_hz = 30 + 1.5*random.random()\n", | |
| " sensorData.B_optical_hz = 30 - 1.5*random.random()\n", | |
| "\n", | |
| " sensorData.pressureP = 1000+round(0*255*random.random())\n", | |
| " sensorData.pressureT = 1000+round(0*255*random.random())\n", | |
| "\n", | |
| " sensorData.tempC[0] = 70.89 + 1*random.random()\n", | |
| " sensorData.tempC[1] = 60.89 + 1*random.random()\n", | |
| " sensorData.tempC[2] = 50.89 + 1*random.random()\n", | |
| " sensorData.tempC[3] = 40.89 + 1*random.random()\n", | |
| " sensorData.tempC[4] = 30.89 + 1*random.random()\n", | |
| " sensorData.tempC[5] = 20.89 + 1*random.random()\n", | |
| " \n", | |
| " sensorData.overload = False\n", | |
| " sensorData.limitswitch = False\n", | |
| "\n", | |
| " # Fx\n", | |
| " sensorData.A_forces_N[0] = 0*1.1 + .05*random.random()\n", | |
| " sensorData.B_forces_N[0] = 0*1.1 - .05*random.random()\n", | |
| "\n", | |
| " # Fy\n", | |
| " sensorData.A_forces_N[1] = 0*1.5 + .05*random.random()\n", | |
| " sensorData.B_forces_N[1] = 0*1.5 - .05*random.random()\n", | |
| "\n", | |
| " # Fz\n", | |
| " sensorData.A_forces_N[2] = 0*10.9 + .05*random.random()\n", | |
| " sensorData.B_forces_N[2] = 0*10.9 - .05*random.random()\n", | |
| "\n", | |
| " # Tx\n", | |
| " sensorData.A_forces_N[3] = 1.0 + .0*random.random()\n", | |
| " sensorData.B_forces_N[3] = 1.0 - .0*random.random()\n", | |
| "\n", | |
| " # Ty (thrust)\n", | |
| " sensorData.A_forces_N[4] = 1 + .0*random.random()\n", | |
| " sensorData.B_forces_N[4] = 1 - .0*random.random()\n", | |
| "\n", | |
| " # Tz (torque)\n", | |
| " sensorData.A_forces_N[5] = 1.8 + .05*random.random()\n", | |
| " sensorData.B_forces_N[5] = 1.8 - .05*random.random()\n", | |
| "\n", | |
| " transmitPollResponse(sensorData)\n", | |
| " time.sleep(.1)\n", | |
| " \n", | |
| "# print(basicData.esc_voltage) ## Print \"1\"\n", | |
| "\n", | |
| "# D_buffer = ffi.buffer(basicData)\n", | |
| "# print(binascii.hexlify((D_buffer)))\n", | |
| "\n", | |
| "# print(ffi.sizeof(basicData[0]) + ffi.sizeof(proData[0]))\n" | |
| ], | |
| "outputs": [], | |
| "execution_count": 59, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:56.166Z", | |
| "iopub.execute_input": "2020-08-06T23:26:56.174Z", | |
| "iopub.status.idle": "2020-08-06T23:26:56.736Z", | |
| "shell.execute_reply": "2020-08-06T23:26:56.725Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# Utilities" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "'''\n", | |
| "Takes an input in [0,1] and maps it to the required duty cycle based on the servo PWM\n", | |
| "scheme, which is 0 = 1000us and 1 = 2000us. Currently hardcoded for 48Mhz clock\n", | |
| "''' \n", | |
| "def input2dutycycle(throttleCmd):\n", | |
| " pulseLength_us = throttleCmd * 1000 + 1000\n", | |
| " pulseLength_ms = pulseLength_us / 1000\n", | |
| "\n", | |
| " timeEpoch_ms = 1/((TimerFrequency/2**16) / TimerClockDivisor) * 1000\n", | |
| " timeStep_ms = timeEpoch_ms / 2**16\n", | |
| "\n", | |
| " # Calculate the number of timesteps and invert the on/off\n", | |
| " dutyCycle = 65536 - math.ceil(pulseLength_ms / timeStep_ms)\n", | |
| "\n", | |
| " return dutyCycle\n", | |
| "\n", | |
| "'''\n", | |
| "Output PWM throttle command. Currently hardcoded for Timer 0\n", | |
| "'''\n", | |
| "def setThrottle(throttleCmd):\n", | |
| " # Saturate the throttle command\n", | |
| " if throttleCmd < 0:\n", | |
| " throttleCmd = 0\n", | |
| " elif throttleCmd > 1:\n", | |
| " throttleCmd = 1\n", | |
| " \n", | |
| " dutyCycle = input2dutycycle(throttleCmd)\n", | |
| "\n", | |
| " # Output to timer. Please note that the timer pin configuration happens elsewhere\n", | |
| " d.getFeedback(u3.Timer0Config(TimerMode=0, Value=dutyCycle)) # U3, Timer 0" | |
| ], | |
| "outputs": [], | |
| "execution_count": 60, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:58.863Z", | |
| "iopub.execute_input": "2020-08-06T23:26:58.871Z", | |
| "iopub.status.idle": "2020-08-06T23:26:58.883Z", | |
| "shell.execute_reply": "2020-08-06T23:26:58.889Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# Initialize outputs" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "setThrottle(0)\n", | |
| "# Configure LabJack IO ports\n", | |
| "d.configIO(NumberOfTimersEnabled=1, TimerCounterPinOffset = 4, EnableCounter1=True)\n", | |
| "\n", | |
| "# Configure Timers\n", | |
| "d.configTimerClock(TimerClockBase=TimerClockBase, TimerClockDivisor=TimerClockDivisor)" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "execute_result", | |
| "execution_count": 61, | |
| "data": { | |
| "text/plain": [ | |
| "{'TimerClockBase': 6, 'TimerClockDivisor': 2}" | |
| ] | |
| }, | |
| "metadata": {} | |
| } | |
| ], | |
| "execution_count": 61, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:26:59.939Z", | |
| "iopub.execute_input": "2020-08-06T23:26:59.949Z", | |
| "iopub.status.idle": "2020-08-06T23:26:59.964Z", | |
| "shell.execute_reply": "2020-08-06T23:26:59.971Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# Run the program" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "measurementComputing_queue = queue.Queue()\n", | |
| "labJack_queue = queue.Queue()" | |
| ], | |
| "outputs": [], | |
| "execution_count": 62, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:27:03.166Z", | |
| "iopub.execute_input": "2020-08-06T23:27:03.174Z", | |
| "iopub.status.idle": "2020-08-06T23:27:03.185Z", | |
| "shell.execute_reply": "2020-08-06T23:27:03.192Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "def measurementComputingSamplingTask(stop_event, timeStep):\n", | |
| " global shouldPublishMeasurementComputingData\n", | |
| " \n", | |
| " now = time.time()\n", | |
| " nextWakeTime = now + timeStep\n", | |
| " \n", | |
| " count = 0\n", | |
| " \n", | |
| " while not stop_event.is_set():\n", | |
| " # Read the Measurement Computing device\n", | |
| " temperatureReading = readTemperature(temperatureChannels)\n", | |
| " \n", | |
| " measurementComputing_queue.put(temperatureReading)\n", | |
| " \n", | |
| " shouldPublishMeasurementComputingData = True\n", | |
| " \n", | |
| "# print(temperatureReading)\n", | |
| "\n", | |
| " # Set up sleep until next loop\n", | |
| " pause.until(nextWakeTime)\n", | |
| " nextWakeTime = nextWakeTime + timeStep\n", | |
| " count = count + 1\n", | |
| " \n", | |
| " return\n", | |
| "\n", | |
| "def labJackSamplingTask(stop_event, timeStep):\n", | |
| " global shouldPublishLabJackData\n", | |
| " \n", | |
| " now = time.time()\n", | |
| " nextWakeTime = now + timeStep\n", | |
| " \n", | |
| " count = 0\n", | |
| " \n", | |
| " while not stop_event.is_set():\n", | |
| " # Measure analog input channels\n", | |
| " adc0 = d.getAIN(0,SPECIAL_3V6_RANGE)\n", | |
| " adc1 = d.getAIN(1,SPECIAL_3V6_RANGE)\n", | |
| " adc2 = d.getAIN(2,SPECIAL_3V6_RANGE)\n", | |
| " adc3 = d.getAIN(3,SPECIAL_3V6_RANGE)\n", | |
| "\n", | |
| " # Measure RPM\n", | |
| " escTicks = d.getFeedback(u3.Counter1(Reset=True))[0]\n", | |
| " motorRotations = escTicks / (numMagneticPoles/2)\n", | |
| " motorSpeed_Hz = motorRotations / timeStep \n", | |
| "\n", | |
| "# print(\"escTicks :\" + str(escTicks) + \", timeStep :\" + str(timeStep) + \", motorSpeed_Hz :\" + str(motorSpeed_Hz))\n", | |
| " \n", | |
| " labJack_queue.put({'adc0': adc0, 'adc1': adc1, 'adc2': adc2, 'adc3': adc3, 'motorSpeed_Hz': motorSpeed_Hz})\n", | |
| "\n", | |
| " shouldPublishLabJackData = True\n", | |
| " \n", | |
| "# print(\"RPM: \" + str(rpm))\n", | |
| " \n", | |
| " # Set up sleep until next loop\n", | |
| " pause.until(nextWakeTime)\n", | |
| " nextWakeTime = nextWakeTime + timeStep\n", | |
| " count = count + 1\n", | |
| " \n", | |
| " return\n", | |
| " \n", | |
| "\n", | |
| "def incomingCommsTask(stop_event, timeStep):\n", | |
| " global shouldSendDebugPacket\n", | |
| " \n", | |
| " now = time.time()\n", | |
| " nextWakeTime = now + timeStep\n", | |
| " \n", | |
| " count = 0\n", | |
| " \n", | |
| " while not stop_event.is_set():\n", | |
| " try:\n", | |
| " while serialPort.in_waiting > 0:\n", | |
| " # Fetch single byte\n", | |
| " b = serialPort.read()\n", | |
| "\n", | |
| " # Transform byte into ordinal\n", | |
| " c = ord(b)\n", | |
| " command, payload = receiveData(c)\n", | |
| "\n", | |
| " if command != None:\n", | |
| " processRCBenchmarkCommand(command, bytearray(payload))\n", | |
| "\n", | |
| " if command == 0:\n", | |
| " shouldSendDebugPacket = True\n", | |
| " if command == 5:\n", | |
| "# transmitPollResponse(sensorData)\n", | |
| " throttleCmd = (controlData.A_PWM -1000.0) / 1000\n", | |
| " setThrottle(throttleCmd)\n", | |
| " except Exception as e:\n", | |
| " print(\"[COMM][ERROR]: \"+ str(e))\n", | |
| " \n", | |
| " # Set up sleep until next loop\n", | |
| " pause.until(nextWakeTime)\n", | |
| " nextWakeTime = nextWakeTime + timeStep\n", | |
| " count = count + 1\n", | |
| " \n", | |
| " return\n", | |
| "\n", | |
| " \n", | |
| "def outgoingCommsTask(stop_event, timeStep):\n", | |
| " global shouldPublishLabJackData\n", | |
| " global shouldPublishMeasurementComputingData\n", | |
| " \n", | |
| " now = time.time()\n", | |
| " nextWakeTime = now + timeStep\n", | |
| " \n", | |
| " count = 0\n", | |
| " \n", | |
| " while not stop_event.is_set():\n", | |
| " \n", | |
| " shouldPublishData = False\n", | |
| " \n", | |
| " if labJack_queue.empty() == False:\n", | |
| " val = labJack_queue.get()\n", | |
| " \n", | |
| " sensorData.A_voltage = val['adc0'] * motorAVoltageScaling\n", | |
| " sensorData.B_voltage = float('nan') # 70.23 - .5*random.random()\n", | |
| " \n", | |
| " sensorData.A_current = val['adc1'] * motorACurrentScaling\n", | |
| " sensorData.B_current = float('nan') # 50.23 - .5*random.random()\n", | |
| "\n", | |
| " sensorData.A_optical_hz = val['motorSpeed_Hz']\n", | |
| " sensorData.B_optical_hz = float('nan') # 30 - .5*random.random()\n", | |
| " \n", | |
| " sensorData.pressureP = 1000+round(0*255*random.random())\n", | |
| " sensorData.pressureT = 1000+round(0*255*random.random())\n", | |
| " \n", | |
| " sensorData.overload = False\n", | |
| " sensorData.limitswitch = False\n", | |
| "\n", | |
| " # Fx\n", | |
| " sensorData.A_forces_N[0] = float('nan') # 0*1.1 + .05*random.random()\n", | |
| " sensorData.B_forces_N[0] = float('nan') # 0*1.1 - .05*random.random()\n", | |
| "\n", | |
| " # Fy\n", | |
| " sensorData.A_forces_N[1] = float('nan') # 0*1.5 + .05*random.random()\n", | |
| " sensorData.B_forces_N[1] = float('nan') # 0*1.5 - .05*random.random()\n", | |
| "\n", | |
| " # Fz\n", | |
| " sensorData.A_forces_N[2] = float('nan') # 0*10.9 + .05*random.random()\n", | |
| " sensorData.B_forces_N[2] = float('nan') # 0*10.9 - .05*random.random()\n", | |
| "\n", | |
| " # Tx\n", | |
| " sensorData.A_forces_N[3] = float('nan') # 1.0 + .0*random.random()\n", | |
| " sensorData.B_forces_N[3] = float('nan') # 1.0 - .0*random.random()\n", | |
| "\n", | |
| " # Ty (thrust)\n", | |
| " sensorData.A_forces_N[4] = val['adc2'] * motorAThrustScaling\n", | |
| " sensorData.B_forces_N[4] = float('nan') # 1 - .0*random.random()\n", | |
| "\n", | |
| " # Tz (torque)\n", | |
| " sensorData.A_forces_N[5] = float('nan') # 1.8 + .05*random.random()\n", | |
| " sensorData.B_forces_N[5] = float('nan') # 1.8 - .05*random.random()\n", | |
| " \n", | |
| " shouldPublishData = True\n", | |
| " shouldPublishLabJackData = False\n", | |
| " else:\n", | |
| " sensorData.A_voltage = float('nan')\n", | |
| " sensorData.B_voltage = float('nan')\n", | |
| "\n", | |
| " sensorData.A_current = float('nan')\n", | |
| " sensorData.B_current = float('nan')\n", | |
| "\n", | |
| " sensorData.A_optical_hz = float('nan')\n", | |
| " sensorData.B_optical_hz = float('nan')\n", | |
| " \n", | |
| " sensorData.pressureP = -2**15\n", | |
| " sensorData.pressureT = -2**15\n", | |
| "\n", | |
| " sensorData.overload = False\n", | |
| " sensorData.limitswitch = False\n", | |
| "\n", | |
| " # Fx\n", | |
| " sensorData.A_forces_N[0] = float('nan')\n", | |
| " sensorData.B_forces_N[0] = float('nan')\n", | |
| "\n", | |
| " # Fy\n", | |
| " sensorData.A_forces_N[1] = float('nan')\n", | |
| " sensorData.B_forces_N[1] = float('nan')\n", | |
| "\n", | |
| " # Fz\n", | |
| " sensorData.A_forces_N[2] = float('nan')\n", | |
| " sensorData.B_forces_N[2] = float('nan')\n", | |
| "\n", | |
| " # Tx\n", | |
| " sensorData.A_forces_N[3] = float('nan')\n", | |
| " sensorData.B_forces_N[3] = float('nan')\n", | |
| "\n", | |
| " # Ty (thrust)\n", | |
| " sensorData.A_forces_N[4] = float('nan')\n", | |
| " sensorData.B_forces_N[4] = float('nan')\n", | |
| "\n", | |
| " # Tz (torque)\n", | |
| " sensorData.A_forces_N[5] = float('nan')\n", | |
| " sensorData.B_forces_N[5] = float('nan')\n", | |
| "\n", | |
| " # Check if there is MeasurementComputing data queued to be published\n", | |
| " if measurementComputing_queue.empty() == False:\n", | |
| " reading = measurementComputing_queue.get()\n", | |
| " \n", | |
| " shouldPublishData = True\n", | |
| " shouldPublishMeasurementComputingData = False\n", | |
| " \n", | |
| " for j in range(6):\n", | |
| " if isinstance(reading[j], numbers.Number):\n", | |
| " sensorData.tempC[j] = reading[j]\n", | |
| " else:\n", | |
| " sensorData.tempC[j] = float('nan')\n", | |
| " else:\n", | |
| " sensorData.tempC[0] = float('nan')\n", | |
| " sensorData.tempC[1] = float('nan')\n", | |
| " sensorData.tempC[2] = float('nan')\n", | |
| " sensorData.tempC[3] = float('nan')\n", | |
| " sensorData.tempC[4] = float('nan')\n", | |
| " sensorData.tempC[5] = float('nan')\n", | |
| "\n", | |
| " if shouldPublishData == True:\n", | |
| " transmitPollResponse(sensorData)\n", | |
| " shouldPublishData = False\n", | |
| " \n", | |
| " # Set up sleep until next loop\n", | |
| " pause.until(nextWakeTime)\n", | |
| " nextWakeTime = nextWakeTime + timeStep\n", | |
| " count = count + 1\n", | |
| " \n", | |
| " return" | |
| ], | |
| "outputs": [], | |
| "execution_count": 103, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-07T14:14:32.863Z", | |
| "iopub.execute_input": "2020-08-07T14:14:32.872Z", | |
| "iopub.status.idle": "2020-08-07T14:14:32.886Z", | |
| "shell.execute_reply": "2020-08-07T14:14:32.896Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "shouldPublishLabJackData = False \n", | |
| "shouldPublishMeasurementComputingData = False\n", | |
| "shouldSendDebugPacket = False\n", | |
| "\n", | |
| "\n", | |
| "# Create the kill switch. This will be used to direct all threads to \n", | |
| "# exit their infinite loop.\n", | |
| "pill2kill = threading.Event()\n", | |
| "\n", | |
| "# Instantiate the threads\n", | |
| "measurementComputingSamplingTask_freqHz = 2 # Can only sample 2S/s/ch\n", | |
| "labJackSamplingTask_freqHz = 4\n", | |
| "incomingCommsTask_freqHz = 100\n", | |
| "outgoingCommsTask_freqHz = 100\n", | |
| "\n", | |
| "mcThread = threading.Thread(target=measurementComputingSamplingTask, args=(pill2kill, 1.0/measurementComputingSamplingTask_freqHz))\n", | |
| "ljThread = threading.Thread(target=labJackSamplingTask, args=(pill2kill, 1.0/labJackSamplingTask_freqHz))\n", | |
| "incomingCommsThread = threading.Thread(target=incomingCommsTask, args=(pill2kill, 1.0/incomingCommsTask_freqHz))\n", | |
| "outgoingCommsThread = threading.Thread(target=outgoingCommsTask, args=(pill2kill, 1.0/outgoingCommsTask_freqHz))\n", | |
| "\n", | |
| "# Flush the serial port\n", | |
| "serialPort.flushInput()\n", | |
| "\n", | |
| "# Flush the queues\n", | |
| "with measurementComputing_queue.mutex:\n", | |
| " measurementComputing_queue.queue.clear()\n", | |
| " \n", | |
| "with labJack_queue.mutex:\n", | |
| " labJack_queue.queue.clear()\n", | |
| "\n", | |
| "# Start the threads\n", | |
| "mcThread.start()\n", | |
| "ljThread.start()\n", | |
| "incomingCommsThread.start()\n", | |
| "outgoingCommsThread.start()\n", | |
| "\n", | |
| "print(\"Started at time: \" + str(datetime.datetime.now().time()))" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "name": "stdout", | |
| "text": [ | |
| "Started at time: 10:14:33.664621\n" | |
| ] | |
| } | |
| ], | |
| "execution_count": 104, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-07T14:14:33.731Z", | |
| "iopub.execute_input": "2020-08-07T14:14:33.745Z", | |
| "iopub.status.idle": "2020-08-07T14:14:33.772Z", | |
| "shell.execute_reply": "2020-08-07T14:14:33.782Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [], | |
| "outputs": [ | |
| { | |
| "output_type": "execute_result", | |
| "execution_count": 86, | |
| "data": { | |
| "text/plain": [ | |
| "1" | |
| ] | |
| }, | |
| "metadata": {} | |
| } | |
| ], | |
| "execution_count": 86, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T23:38:46.471Z", | |
| "iopub.execute_input": "2020-08-06T23:38:46.480Z", | |
| "iopub.status.idle": "2020-08-06T23:38:46.499Z", | |
| "shell.execute_reply": "2020-08-06T23:38:46.507Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# Stop program" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# Send the kill signal\n", | |
| "pill2kill.set()\n", | |
| "\n", | |
| "# Use join() to force the program to wait for the threads to end \n", | |
| "mcThread.join()\n", | |
| "ljThread.join()\n", | |
| "incomingCommsThread.join()\n", | |
| "outgoingCommsThread.join()\n", | |
| "\n", | |
| "print(\"Done at time: \" + str(datetime.datetime.now().time()))" | |
| ], | |
| "outputs": [ | |
| { | |
| "output_type": "stream", | |
| "name": "stdout", | |
| "text": [ | |
| "Done at time: 22:10:58.316330\n" | |
| ] | |
| } | |
| ], | |
| "execution_count": 100, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-07T02:10:58.344Z", | |
| "iopub.execute_input": "2020-08-07T02:10:58.355Z", | |
| "iopub.status.idle": "2020-08-07T02:10:58.382Z", | |
| "shell.execute_reply": "2020-08-07T02:10:58.427Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "markdown", | |
| "source": [ | |
| "# Shutdown program" | |
| ], | |
| "metadata": { | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# Close the Measurement Computing DAQ module\n", | |
| "ul.release_daq_device(board_num)" | |
| ], | |
| "outputs": [], | |
| "execution_count": null, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-04T21:34:24.653Z", | |
| "iopub.execute_input": "2020-08-04T21:34:24.658Z", | |
| "iopub.status.idle": "2020-08-04T21:34:24.664Z", | |
| "shell.execute_reply": "2020-08-04T21:34:24.669Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "# Close the LabJack\n", | |
| "d.close()" | |
| ], | |
| "outputs": [], | |
| "execution_count": 30, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-06T01:01:26.835Z", | |
| "iopub.execute_input": "2020-08-06T01:01:26.846Z", | |
| "iopub.status.idle": "2020-08-06T01:01:26.856Z", | |
| "shell.execute_reply": "2020-08-06T01:01:26.865Z" | |
| } | |
| } | |
| }, | |
| { | |
| "cell_type": "code", | |
| "source": [ | |
| "#Close the serial port\n", | |
| "serialPort.close()" | |
| ], | |
| "outputs": [], | |
| "execution_count": null, | |
| "metadata": { | |
| "collapsed": true, | |
| "jupyter": { | |
| "source_hidden": false, | |
| "outputs_hidden": false | |
| }, | |
| "nteract": { | |
| "transient": { | |
| "deleting": false | |
| } | |
| }, | |
| "execution": { | |
| "iopub.status.busy": "2020-08-05T16:39:30.200Z", | |
| "iopub.execute_input": "2020-08-05T16:39:30.208Z", | |
| "shell.execute_reply": "2020-08-05T16:39:30.225Z", | |
| "iopub.status.idle": "2020-08-05T16:39:30.219Z" | |
| } | |
| } | |
| } | |
| ], | |
| "metadata": { | |
| "kernel_info": { | |
| "name": "python3" | |
| }, | |
| "language_info": { | |
| "name": "python", | |
| "version": "3.8.3", | |
| "mimetype": "text/x-python", | |
| "codemirror_mode": { | |
| "name": "ipython", | |
| "version": 3 | |
| }, | |
| "pygments_lexer": "ipython3", | |
| "nbconvert_exporter": "python", | |
| "file_extension": ".py" | |
| }, | |
| "kernelspec": { | |
| "argv": [ | |
| "python", | |
| "-m", | |
| "ipykernel_launcher", | |
| "-f", | |
| "{connection_file}" | |
| ], | |
| "display_name": "Python 3", | |
| "language": "python", | |
| "name": "python3" | |
| }, | |
| "nteract": { | |
| "version": "0.23.3" | |
| }, | |
| "gist_id": "4e895f9f58af44e06acd594b8d393e3b" | |
| }, | |
| "nbformat": 4, | |
| "nbformat_minor": 0 | |
| } |
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