To run gcs-infrastructure as a submodule:
In the parent directory of the host respository:
1.) mkdir lib
2.) cd lib
3.) git submodule add https://github.com/ngcp-project/gcs-infrastructure.git
4.) git submodule add https://github.com/ngcp-project/gcs-packet.git
5.) git submodule add https://github.com/ngcp-project/xbee-python.git
6.) git submodule update --init --recursive
7.) pip install -e "gcs-infrastructure"
8.) pip install -e "gcs-packet"
9.) pip install -e "xbee-python"
Note
The only use case to run gcs-infrastructure like this is internal testing, install it as a submodule to another repository instead for all other use cases
To run gcs-infrastructure as a standalone repository:
1.) Create and source a venv
2.) Change working directory to gcs-infrastructure/lib
3.) git submodule update --init --recursive
4.) cd ..
5.) pip install -r requirements.txt
6.) pip install -e .
Note
If using VS Code, open the command palette and ensure the python interpreter is set to your venv, or xbee-python and gcs-packet classes will not be found
To start the GCS XBee:
from InfrastructureInterface import LaunchGCSXBee
LaunchGCSXBee(PORT)To start a vehicle XBee:
from InfrastructureInterface import LaunchVehicleXBee
LaunchVehicleXBee(PORT)Note
Never call either LaunchXBee function more than once. In the future calling it more than once will return a clearer error. LaunchGCSXBee and LaunchVehicleXBee are mutually exclusive and should not be called in the same file
To send a Command:
from InfrastructureInterface import SendCommand
# Assuming LaunchGCSXBee was called earlier, CommandInstance is any Command object
SendCommand(CommandInstance, Vehicle.ALL)To send Telemetry:
from InfrastructureInterface import SendTelemetry
# Assuming LaunchVehicleXbee was called earlier, TelemetryInstance is a Telemetry object
SendTelemetry(TelemetryInstance)To receive a Command:
from InfrastructureInterface import ReceiveCommand
# Assuming LaunchVehicleXBee was called earlier, ReceivedCommand will be assigned to a Command object. Blocking is a boolean that defines whether the queue should block the thread for up to 5 seconds or not. DecodeType is the DecodeFormat the command should be retuned as
ReceivedCommand = ReceiveCommand(Blocking, DecodeType)To receive Telemetry:
from InfrastructureInterface import ReceiveTelemetry
#Assuming LaunchGCSXBee was called earlier, ReceivedTelemetry will be a Telemetry object. Blocking is a boolean that defines whether the queue should block the thread for up to 5 seconds or not.
ReceivedTelemetry = ReceiveTelemetry(Blocking)Note
SendCommand and ReceiveTelemetry will now only block the thread if Blocking is True. If it is a blocking call the thread will block up to 5 seconds before returning None
Test scripts are found in gcs-infrastructure/TestScripts
Run GCSTest.py in one window and VehicleTest.py in another to test XBee communication, as well as sending commands and receiving telemetry
Serves as a demo GCS able to send commands and receive telemetry from a vehicle
Commands can be sent either by name or using their Command ID as an alias. Command names are case and whitespace insensitive. Send only the command name or alias, the parameters will be entered seperately
| Command Name | Command ID | Parameters |
|---|---|---|
| Heartbeat | 1 | ConnectionStatus |
| Emergency Stop | 2 | int |
| Keep In | 3 | list<tuple(x, y)>() |
| Keep Out | 4 | list<tuple(x, y)>() |
| Current Patient Location | 5 | tuple(x, y) |
| Search Area | 6 | list<tuple(x, y)>() |
Any other string will be sent as a string literal
Serves as a demo vehicle able to receive commands, generate telemetry, and send it back to the GCS
This library builds off pySerial and allows for the easy transmission and reception of data over the XBee module. This library was made specifically for the [Digi XBee® RR Pro Module][xbee_rr_datasheet].
Refer to the [XBee Serial Library][xbee_readme.md] page for further details and documentation.
Sometimes xbee-python and gcs-packet packages cannot be resolved by Python. If this occurs, it is best to delete the repository and re-clone it. Doing the setup and running the Python scripts in Windows Powershell is recommended. Ensure that the Python interpreter you are using to run the code is using the virtual environment you used to install the libraries.