PFCMD PY
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user apps
do_command.py
do_command.py -h :
Options:
-h, --help show this help message and exit
-i IP_ADDRESS, --ip_address=IP_ADDRESS
make a TCP connection to the specified IP (instead of
using serial)
-P PORT, --port=PORT port number for TCP connections.
-c COM_PORT, -p COM_PORT, --com_port=COM_PORT
COM PORT number for serial port connection
-b BAUDRATE, --baud_rate=BAUDRATE
baurdrate when using serial port (default is 115200)
-g GET_TYPE get IO channels : options are [ai, di, ao, do]
--suffix=SPECIAL_COMMAND_SUFFIX
suffix for special commands (thus variations on the
special commands can be used.)
-D REPEAT_DELAY, --delay=REPEAT_DELAY
special command repeat delay in milliseconds
-v GET_VERSION, --version=GET_VERSION
execute the version command on each of the specified
platforms. Eg -v smi does all platforms.
-n REPEAT_COUNT, --repeat_count=REPEAT_COUNT
number of times to repeat the supplied special
command(s)
-T, --set_time use the PC time to set the robot clock
-X, --hex_mode display the special command results in hex
-F, --float_mode interpret the data from the special command as
floating point numbers
-f LOG_FILE_NAME, --file_name=LOG_FILE_NAME
log the results to a file.
-S STRUCT_STRING, --struct_string=STRUCT_STRING
use struct.unpack(STRUT_STRING, data) to process the
result of the special command. Eg -S =10L
-R READ_ADDRESS, --read_address=READ_ADDRESS
read memory from address (int or hex)
-W WRITE_ADDRESS, --write_address=WRITE_ADDRESS
write data to address (int or hex)
-d DATA_FILENAME, --data_filename=DATA_FILENAME
text file source for data that is written. file should
contain numbers (UINT8_T) separated with a char from
[,;:= ]. these numbers will be turned into a
bytestream for use with memory write.
-L READ_LENGTH, --read_length=READ_LENGTH
length of memory buffer to read
-M MEMORY_TYPE, --memory_type=MEMORY_TYPE
numeric code to specify the memory type and platform
for read and write. Use -H for a list.
-s, --special -s N [arg1, ... ] issue special command N with
arguments. Args may be negative, and multiple
commands may be issued by repeating the -s
-V, --write_data list of SPACE separated values available for memory
write command. Eg -V 1 2 3
-H, --memory_type_help
list the ID numbers for various robot memory types.
HOSTCMD_SC_RAM_MEM_TYPE 1 HOSTCMD_SC_FLASH_MEM_TYPE 2 HOSTCMD_SC_MFG_EEPROM_MEM_TYPE 3 HOSTCMD_SC_USR_EEPROM_MEM_TYPE 4 HOSTCMD_MC_RAM_MEM_TYPE 5 HOSTCMD_MC_FLASH_MEM_TYPE 6 HOSTCMD_IMU_RAM_MEM_TYPE 11 HOSTCMD_IMU_FLASH_MEM_TYPE 12 HOSTCMD_IMU_MFG_EEPROM_MEM_TYPE 13 HOSTCMD_IMU_USR_EEPROM_MEM_TYPE 14
examples
- Using two special commands, each 10 times to read the SC and MC state:
do_command.py -p <COM PORT> -n 10 -s 104 -s 1420
- Read IMU data and display as a float:
do_command.py -p <COM PORT> -F -s 2025
- Read IMU and run through a strut string to produce 4 ints, 4 longs, and 4 floats (length = 40)
do_command.py -p <COM PORT> -S =4h4L4F -s 2030
- Read 512 bytes of IMU FLASH memory at address 4096:
do_command.py -p <COM PORT> -L 0x200 -R 0x1000 -M 12
- Write 3 bytes ('A','B','C') to SC USR EEPROM at address 0xff0, then read it back
do_command.py -p <COM PORT> -W 0xff0 -V 65 66 67 -M 4 -R 0xff0
- Write a list of numbers from a file to SC USR_EEPROM
do_command.py -p <COM PORT> -W 0xff0 -d eeprom_data.txt -M 4 -R 0xff0
