*

2025-05-13 01:34:53 +03:00
parent 427735e23d
commit 83f3f1c7d4
945 changed files with 633484 additions and 0 deletions
@@ -0,0 +1,101 @@
+
+import sys
+import platform
+import threading
+import fibre
+import odrive
+import odrive.enums
+from odrive.utils import calculate_thermistor_coeffs, set_motor_thermistor_coeffs, start_liveplotter, dump_errors, oscilloscope_dump, BulkCapture, step_and_plot
+
+def print_banner():
+    print("Website: https://odriverobotics.com/")
+    print("Docs: https://docs.odriverobotics.com/")
+    print("Forums: https://discourse.odriverobotics.com/")
+    print("Discord: https://discord.gg/k3ZZ3mS")
+    print("Github: https://github.com/madcowswe/ODrive/")
+
+    print()
+    print('Please connect your ODrive.')
+    print('You can also type help() or quit().')
+
+def print_help(args, have_devices):
+    print('')
+    if have_devices:
+        print('Connect your ODrive to {} and power it up.'.format(args.path))
+        print('After that, the following message should appear:')
+        print('  "Connected to ODrive [serial number] as odrv0"')
+        print('')
+        print('Once the ODrive is connected, type "odrv0." and press <tab>')
+    else:
+        print('Type "odrv0." and press <tab>')
+    print('This will present you with all the properties that you can reference')
+    print('')
+    print('For example: "odrv0.axis0.encoder.pos_estimate"')
+    print('will print the current encoder position on axis 0')
+    print('and "odrv0.axis0.controller.input_pos = 0.5"')
+    print('will send axis 0 to 0.5 turns')
+    print('')
+
+
+interactive_variables = {}
+
+discovered_devices = []
+
+def did_discover_device(odrive, logger, app_shutdown_token):
+    """
+    Handles the discovery of new devices by displaying a
+    message and making the device available to the interactive
+    console
+    """
+    serial_number = odrive.serial_number if hasattr(odrive, 'serial_number') else "[unknown serial number]"
+    if serial_number in discovered_devices:
+        verb = "Reconnected"
+        index = discovered_devices.index(serial_number)
+    else:
+        verb = "Connected"
+        discovered_devices.append(serial_number)
+        index = len(discovered_devices) - 1
+    interactive_name = "odrv" + str(index)
+
+    # Publish new ODrive to interactive console
+    interactive_variables[interactive_name] = odrive
+    globals()[interactive_name] = odrive # Add to globals so tab complete works
+    logger.notify("{} to ODrive {:012X} as {}".format(verb, serial_number, interactive_name))
+
+    # Subscribe to disappearance of the device
+    odrive.__channel__._channel_broken.subscribe(lambda: did_lose_device(interactive_name, logger, app_shutdown_token))
+
+def did_lose_device(interactive_name, logger, app_shutdown_token):
+    """
+    Handles the disappearance of a device by displaying
+    a message.
+    """
+    if not app_shutdown_token.is_set():
+        logger.warn("Oh no {} disappeared".format(interactive_name))
+
+def launch_shell(args, logger, app_shutdown_token):
+    """
+    Launches an interactive python or IPython command line
+    interface.
+    As ODrives are connected they are made available as
+    "odrv0", "odrv1", ...
+    """
+
+    interactive_variables = {
+        'start_liveplotter': start_liveplotter,
+        'dump_errors': dump_errors,
+        'oscilloscope_dump': oscilloscope_dump,
+        'BulkCapture': BulkCapture,
+        'step_and_plot': step_and_plot,
+        'calculate_thermistor_coeffs': calculate_thermistor_coeffs,
+        'set_motor_thermistor_coeffs': set_motor_thermistor_coeffs
+    }
+
+    # Expose all enums from odrive.enums
+    interactive_variables.update({k: v for (k, v) in odrive.enums.__dict__.items() if not k.startswith("_")})
+
+    fibre.launch_shell(args,
+                       interactive_variables,
+                       print_banner, print_help,
+                       logger, app_shutdown_token,
+                       branding_short="odrv", branding_long="ODrive")