Code Index

network module

class src.network.Client(server_ip, server_port, **kwargs)

Bases: NetworkInterface

send(val)

Sends the data to the server

Parameters:

val – the angle or the error

Returns:

class src.network.NetworkInterface(send_errors: bool = True, precision: int = 360, message_bytes: int = 2, **kwargs)

Bases: object

Abstracts the send method, and how to do the preprocessing of the data to send

Parameters:

  • send_errors – flag if errors should be sent or only logged

  • precision (int) – the base degree of the angle, defaults to 360

  • message_bytes – how many bytes the data should have in ethernet and serial, 2^(8*message_bytes) has to be bigger than precission, defaults to 2

  • kwargs – a catch-all argument, so constructor can be filled by config

Variables:

  • max_precision – equals 2^(8 * message_bytes), the highest 10 values are reserved for error codes

  • NOT_FOUND – max_precision - 1, an error code for a not found ball

  • WRONG_ORDER – max_precision - 2, an error code for a failed race condition

  • ERROR – max_precision - 3, an error code, for a general error

  • LOST_CONNECTION – max_precision - 4, an error code, for a lost camera-pi

preprocess_message(data: float) -> (<class 'int'>, <class 'bool'>)

Rebases the data from 360 degree to the given precision.

Parameters:

data (float) – the date which should be converted

Returns:

the angle in the new base cast to int and if this is an error

Return type:

(int, bool)

send(val)

A placeholder which will be overwritten by its parents

Parameters:

val – the data

class src.network.Server(server_ip, server_port, serial, print_debug=False, **kwargs)

Bases: Thread, NetworkInterface

The server class. Manages the incoming connections from clients, pipes data to the serial port and is logging the values for a later plotting usage

Parameters:

  • server_ip – the ip of the server (has to be localhost)

  • server_port – the port we are waiting for connections

  • serial – the configuration for the serial class

  • print_debug – a flag if debug output should be printed or discarded

  • kwargs – a catch-all parameter for additional config given

Variables:

serial – A object of the SerialCom

latest_values()

Returns only the last value from each host in each category time, angle and error as plain value

Returns:

dict[hostname][category] : value

print(msg)

Helper method which suppresses debug output if not configured

run() → None

Runs the network server. This method is started in a separate thread It iterates through all connection sockets, including the server, watching for new data or connections. The first given data is the hostname, so a reconnect with the same hostname is possible server vice

save_values(data, address, is_error: bool)

Saves the value (or error) in an value array, together with the time. The hostname is used as a a top level key.

Parameters:

  • data – the data

  • address – connection address, where the hostname can be deducted from

  • is_error – a flag if this data is an error code, so we do nat have to check here

Returns:

send(val)

does not send the data to the server, because this is the server already. So it justs saves the data and pipes the data through to the serial interface. If you want to send something else then just the hostdata, like an average from all 3 values, you need to change this method

Parameters:

val –

Returns:

stop()

Saves the data which was sent in a result.mat and result.yml file

Returns:

src.network.addr(s: socket)

A helper method to get a unique string per connection

Parameters:

s – the socket object

Returns:

a unique string per connection

src.network.init_network(is_server: bool, server_ip: str, server_port: int = 9999, **kwargs) → NetworkInterface

This function is a wrapper for dynamic construction of the Client or Server Class depending on the config file, some parameters are only relevant in a server context

src.network.now()

A helper method to get an integer value which can be used as a time axis

Returns:

a time integer in ms, repeats every 10.000 seconds

serial module

class src.serial.SerialCom(verbose=False, com='/dev/serial0', baud=9600, active=True, message_bytes=2, send_mode=1, send_errors=False)

Bases: object

Organizes the serial communication to the dspace card

Parameters:

  • verbose – flag if more output should be given, defaults to false

  • com – the com port to use, on linux a file, defaults to ‘/dev/serial0’ (rpi v4)

  • baud – the baud rate

  • active – flag if serial connection should be established, usefull for mockup usage, defaults to True

  • message_bytes – the length in bytes of the send message per given data, defaults to 2

  • send_mode – the send mode (not yet implemented)

  • send_errors – flag if errors should be transmitted, defaults to False (not yet implemented)

write(angle: int)

The method to call to write an int over the serial line

Parameters:

angle – the angle in int