bug fix; enhanced script
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parent
e921ae3481
commit
1d44d75a29
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@ -13,8 +13,8 @@ echo "Create folder on vacuum.."
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${REMOTE_CMD} mkdir -p ${EXP_FP}/libs
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echo "Push files to vacuum to run.."
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scp ./libs/__init__.py ${REMOTE_EXP_FP}
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scp ./libs/parser.py ${REMOTE_EXP_FP}
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scp ./libs/__init__.py ${REMOTE_EXP_FP}/libs/
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scp ./libs/parser.py ${REMOTE_EXP_FP}/libs/
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scp ./get_loc_est.py ${REMOTE_EXP_FP}
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echo "Install necessary packages"
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@ -4,6 +4,7 @@ import json
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import miio
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import codecs
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import socket
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import binascii
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import subprocess
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from libs.env import set_env_var
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@ -20,21 +21,22 @@ def config_help():
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def control_help():
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print('Control Command Menu')
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print('help - this message')
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print('home - move vacuum to dock location')
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print('move auto/pause/stop. - auto scanning movement (no data parsing)')
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print('move rotate speed time - move (-180, 180)deg at (-0.3,0.3)m/s for `time`ms')
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print('goto x_coor y_coor - move to x,y location on map')
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print('trace on/off - manually start/stop collecting trace')
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print('download trace/map - download the trace or map on vacuum')
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print('config <cmds> - configuration')
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print('quit/exit - exit controller (Ctrl + D does the same)')
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print('help - this message')
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print('home - move vacuum to dock location')
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print('move auto/pause/stop/home. - auto scanning movement (no data parsing)')
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print('move rotate speed time - move (-180, 180)deg at (-0.3,0.3)m/s for `time`ms')
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print('fanspeed integer - set fan speed to be [1-99]')
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print('goto x_coor y_coor - move to x,y location on map')
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print('trace on/off - manually start/stop collecting trace')
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print('download trace/map - download the trace or map on vacuum')
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print('config <cmds> - configuration')
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print('quit/exit - exit controller (Ctrl + D does the same)')
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def run_ssh_command(cmd):
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try:
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output = subprocess.check_output(
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"ssh -o ConnectTimeout=10 -t root@${{MIROBO_IP}} '{}'"
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"ssh -o ConnectTimeout=10 root@${{MIROBO_IP}} '{}'"
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.format(cmd),
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shell=True
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).decode()
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@ -83,18 +85,13 @@ class VacuumController():
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if token:
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self.set_token(token)
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# if we still don't have an IP address, or asked to scan anyways
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if forceScan or self.get_ip() is None:
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self.finding_ip()
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self.vacuum = miio.Vacuum(
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ip=self.get_ip(),
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token=self.get_token()
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)
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# now if we still don't have a valid token, or asked to scan anyways
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if forceScan or self.get_token() is None:
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self.fetching_token()
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if forceScan or self.get_ip() is None or self.get_token() is None:
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self.discover()
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export_ip_token(self.get_ip(), self.get_token())
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@ -116,45 +113,65 @@ class VacuumController():
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def set_config(self, key, val):
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self.config[key] = val
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def _discover_devices(self, timeout=5):
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ips = []
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def _discover(self, timeout=5):
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seen_devices = []
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magic = '21310020ffffffffffffffffffffffffffffffffffffffffffffffffffffffff'
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# broadcast magic handshake to find devices
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s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
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s.setsockopt(socket.SOL_SOCKET, socket.SO_BROADCAST, 1)
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s.settimeout(timeout)
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s.sendto(
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bytes.fromhex('21310020ffffffffffffffffffffffffffffffffffffffffffffffffffffffff'),
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('<broadcast>', 54321)
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)
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s.sendto(bytes.fromhex(magic), ('<broadcast>', 54321))
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while 1:
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try:
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__, addr = s.recvfrom(1024)
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if addr[0] not in ips:
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ips.append(addr[0])
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data, addr = s.recvfrom(1024)
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m = miio.protocol.Message.parse(data)
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if addr[0] not in seen_devices:
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seen_device = (
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addr[0],
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binascii.hexlify(m.header.value.device_id).decode(),
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m.checksum
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)
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print(
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"IP {} (ID: {}) - token: {}"
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.format(
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seen_device[0],
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seen_device[1],
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codecs.encode(seen_device[2], 'hex').decode()
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)
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)
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seen_devices.append(seen_device)
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except socket.timeout:
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print("Discover done!")
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break # ignore timeouts on discover
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except Exception as e:
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print('Error while reading discover results: {}'.format(e))
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break
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return ips
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return seen_devices
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def finding_ip(self):
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def discover(self):
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'''
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getting ip of vacuum
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getting ip and token of device, e.g., vacuum
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'''
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ips = self._discover_devices()
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if not ips:
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print('Err: cannot find any vacuum IP')
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seen_devices = self._discover()
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if not seen_devices:
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print('Err: cannot find any devices')
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exit(-1)
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if len(ips) == 1:
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self.set_ip(ips[0])
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if len(seen_devices) == 1:
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self.set_ip(seen_devices[0][0])
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self.vacuum.token = seen_devices[0][2]
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self.set_token(codecs.encode(seen_devices[0][2], 'hex').decode())
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return
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print('Found multiple IPs:')
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for i, ip in enumerate(ips):
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print(' {0}. {1}'.format(i+1, ip))
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for i, seen_device in enumerate(seen_devices):
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print(
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' {0}. {1} - {2} - {3}'
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.format(i+1, seen_device[0], seen_device[1], seen_device[2])
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)
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try:
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selected = input('Please select one by typing number (1-{}): '.format(len(ips)))
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self.set_ip(ips[int(selected)-1])
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self.set_ip(seen_devices[int(selected)-1][0])
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self.vacuum.token = seen_devices[int(selected)-1][2]
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self.set_token(codecs.encode(seen_devices[int(selected)-1][2], 'hex').decode())
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except KeyboardInterrupt:
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print('User requested to exit')
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exit(0)
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@ -175,7 +192,7 @@ class VacuumController():
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print('Sending handshake to get token')
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m = self.vacuum.do_discover()
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self.vacuum.token = m.checksum
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self.set_token(codecs.encode(m.checksum, 'hex'))
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self.set_token(codecs.encode(m.checksum, 'hex').decode())
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def test_connection(self):
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'''
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@ -255,10 +272,15 @@ class VacuumController():
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print("Insufficient command")
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return False
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if cmd[1] == 'on' or cmd[1] == 'start' or cmd[1] == 'enable':
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print("Cleaning old data on device..")
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if run_ssh_command(
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"rm {0}/*.ppm && rm {0}/*.csv".format(self.get_remote_folder())
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) is None:
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return False
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print("Running script on vacuum..")
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if run_ssh_command(
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"python3 {0}/get_loc_est.py {1} &"
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.format(self.get_remote_folder, "tmp.csv")
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"nohup /usr/bin/python3 {0}/get_loc_est.py {0}/{1} > /dev/null 2>&1 &"
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.format(self.get_remote_folder(), "tmp.csv")
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) is None:
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return False
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elif cmd[1] == 'off' or cmd[1] == 'stop' or cmd[1] == 'disable':
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@ -287,7 +309,8 @@ class VacuumController():
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elif cmd[1] == 'map':
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# find file first
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content = run_ssh_command(
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"ls /run/shm/*.ppm"
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"cp /run/shm/*.ppm {0} && ls {0}/*.ppm"
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.format(self.get_remote_folder())
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)
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if not content:
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return False
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@ -295,7 +318,8 @@ class VacuumController():
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if len(files) == 0:
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print("Cannot find map file!")
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return False
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# download only the last ppm file
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print("Found maps: {}".format(files))
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# download only the latest ppm file
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if not fetch_file_from_vacuum(
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files[-1],
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"./{}_map.ppm".format(cmd[2] if len(cmd) > 2 else prefix)
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@ -322,12 +346,30 @@ class VacuumController():
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elif cmd[1] == 'stop':
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print("Stopping..")
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self.vacuum.stop()
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elif cmd[1] == 'home':
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print("Returning Home..")
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self.vacuum.home()
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elif len(cmd) > 2:
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try:
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duration = int(cmd[3]) if len(cmd) > 3 else 1500
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self.vacuum.manual_control(int(cmd[1]), float(cmd[2]), duration)
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except ValueError:
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print("Err: rotation in (-180, 180), speed in (-0.3, 0.3), duration as ms in integer (default 1500)")
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return False
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except BaseException as e:
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print("Err: {}".format(e))
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return False
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elif cmd[0] == 'fanspeed':
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if len(cmd) == 1:
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print("Insufficient command")
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return False
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try:
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self.vacuum.set_fan_speed(int(cmd[1]))
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except ValueError:
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print("Err: speed must be integer")
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return False
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except BaseException as e:
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print("Err: {}".format(e))
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return False
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elif cmd[0] == 'goto':
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if len(cmd) < 3:
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@ -364,10 +406,10 @@ class VacuumController():
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def init_controller(ip, token):
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c = VacuumController(ip=ip, token=token, forceScan=False)
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# if not c.test_connection():
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# c = VacuumController(forceScan=True)
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# if not c.test_connection():
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# print("Cannot connect to vacuum!")
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# exit(-1)
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if not c.test_connection():
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c = VacuumController(forceScan=True)
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if not c.test_connection():
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print("Cannot connect to vacuum!")
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exit(-1)
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return c
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