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nanten_main_controller.py
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nanten_main_controller.py
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import math
import time
import sys
sys.path.append('/home/amigos/python/')
import numpy as np
import pyinterface
import antenna_enc
import threading
class nanten_main_controller(object):
MOTOR_SAMPLING = 10 #memo
dt = MOTOR_SAMPLING/1000.
count = 0
az_array = []
el_array = []
target_az_array = []
target_el_array = []
error_box = [0]*32
#azv_before = elv_before = 0
az_enc_before = el_enc_before = 0
az_rate = el_rate = 0
az_rate_d = el_rate_d = 0
m_stop_rate_az = m_stop_rate_el = 0
t1 = t2 = 0.0
t_az = t_el = 0.0
current_speed_az = current_speed_el = 0.0
pre_hensa_az = pre_hensa_el = 0
ihensa_az = ihensa_el = 0.0
pre_az_arcsec = pre_el_arcsec = 0
indaz = 0
indel = 0
az_encmoni = 0
el_encmoni = 0
az_targetmoni = 0
el_targetmoni = 0
az_targetspeedmoni = 0
el_targetspeedmoni = 0
az_hensamoni = 0
el_hensamoni = 0
az_ihensamoni = 0
el_ihensamoni = 0
#for drive.py
t1_moni = 0
t2_moni = 0
az_pidihensamoni = 0
el_pidihensamoni = 0
th_az = 0
th_el = 0
server_flag = []
time_list = [0,0,0,0,0]
save_time = 0
end_flag = 0
def __init__(self):
self.dio = pyinterface.create_gpg2000(3)
self.enc = antenna_enc.enc_monitor_client('172.20.0.11',8002)
#self.enc = antenna_enc.enc_controller()
ret = self.enc.read_azel()
self.az_encmoni = ret[0]
self.el_encmoni = ret[1]
pass
def read_enc(self):
t1 = time.time()
ret = self.enc.read_azel()
t2 = time.time()
self.th_az = ret[0]
self.th_el = ret[1]
if t2 - t1 <= 0.005:
self.time_list[0] = self.time_list[0] + 1
elif t2 - t1 <= 0.01:
self.time_list[1] = self.time_list[1] + 1
elif t2 - t1 <= 0.015:
self.time_list[2] = self.time_list[2] + 1
elif t2 - t1 <= 0.02:
self.time_list[3] = self.time_list[3] + 1
elif t2 - t1 <= 0.025:
self.time_list[4] = self.time_list[4] + 1
return
def count_time(self):
flag_list = self.server_flag[:]
time.sleep(1)
if self.server_flag == flag_list:
self.dio.ctrl.out_word("FBIDIO_OUT1_16", 0)
self.dio.ctrl.out_word("FBIDIO_OUT17_32", 0)
self.end_flag = 1
for i in range(1000):
print(flag_list)
return
if self.save_time == 0:
self.save_time = time.time()
tv = time.time()
if tv - self.save_time >= 60.:
name = "enc_hist"+str(int(tv))+".txt"
f = open(name, "w")
for i in range(5):
f.write(str(self.time_list[i])+"\n")
f.close()
self.save_time = time.time()
self.time_list = [0, 0, 0, 0, 0]
return
def init_speed(self):
self.dio.ctrl.out_word("FBIDIO_OUT1_16", 0)
self.dio.ctrl.out_word("FBIDIO_OUT17_32", 0)
return
def azel_move(self, az_arcsec, el_arcsec, az_max_rate, el_max_rate):
test_flag = 1
self.indaz = az_arcsec
self.indel = el_arcsec
ret = self.enc.read_azel()
if abs(az_arcsec-ret[0]) >= 1 or abs(el_arcsec-ret[1]) > 1:
b_time = time.time()
self.move_azel(az_arcsec, el_arcsec, az_max_rate, el_max_rate)
ret = self.enc.read_azel()
interval = time.time()-b_time
if interval <= 0.01:
time.sleep(0.01-interval)
else:
self.dio.ctrl.out_word("FBIDIO_OUT1_16", 0)
self.dio.ctrl.out_word("FBIDIO_OUT17_32", 0)
time.sleep(0.02)
return 0
return 1
def move_azel(self, az_arcsec, el_arcsec, az_max_rate = 16000, el_max_rate = 12000, m_bStop = 'FALSE'):
MOTOR_MAXSTEP = 1000
#MOTOR_AZ_MAXRATE = 16000
MOTOR_AZ_MAXRATE = 10000
MOTOR_EL_MAXRATE = 12000
stop_flag = 0
ret = self.calc_pid(az_arcsec, el_arcsec, az_max_rate, el_max_rate)
az_rate_ref = ret[0]
el_rate_ref = ret[1]
Az_track_flag = ret[2]
El_track_flag = ret[3]
# command value to target value
daz_rate = az_rate_ref - self.az_rate_d
del_rate = el_rate_ref - self.el_rate_d
#limit of acc
if abs(daz_rate) < MOTOR_MAXSTEP:
self.az_rate_d = az_rate_ref
else:
if daz_rate < 0:
a = -1
else:
a = 1
self.az_rate_d += a*MOTOR_MAXSTEP
if abs(del_rate) < MOTOR_MAXSTEP:
self.el_rate_d = el_rate_ref
else:
if del_rate < 0:
a = -1
else:
a = 1
self.el_rate_d += a*MOTOR_MAXSTEP
#limit of max v
if self.az_rate_d > MOTOR_AZ_MAXRATE:
self.az_rate_d = MOTOR_AZ_MAXRATE
if self.az_rate_d < -MOTOR_AZ_MAXRATE:
self.az_rate_d = -MOTOR_AZ_MAXRATE
if self.el_rate_d > MOTOR_EL_MAXRATE:
self.el_rate_d = MOTOR_EL_MAXRATE
if self.el_rate_d < -MOTOR_EL_MAXRATE:
self.el_rate_d = -MOTOR_EL_MAXRATE
# confirm limit of controll rack => forced outage
#if(0< motordrv_nanten2_cw_limit()+motordrv_nanten2_ccw_limit()+motordrv_nanten2_up_limit()+motordrv_nanten2_down_limit())
# motordrv_nanten2_drive_on(FALSE,FALSE);
# output to port
if m_bStop == 'TRUE':
dummy = self.m_stop_rate_az
else:
dummy = int(self.az_rate_d)
#for 1st limit
ret = self.dio.ctrl.in_byte("FBIDIO_IN1_8")
if (ret>>2 & 0x01) == 1:
pass
else:
dummy = 0
stop_flag = 1
#dummy=m_bStop==TRUE?m_stop_rate_az:motor_param.az_rate_ref;
self.dio.ctrl.out_word("FBIDIO_OUT1_16", dummy)
#dioOutputWord(CONTROLER_BASE2,0x00,dummy) output port is unreliable
self.az_rate_d = dummy
if m_bStop == 'TRUE':
dummy = self.m_stop_rate_el
else:
dummy = int(self.el_rate_d)
if (ret>>3 & 0x01) == 1:
pass
else:
dummy = 0
stop_flag = 1
#dummy=m_bStop==TRUE?m_stop_rate_el:motor_param.el_rate_ref;
self.dio.ctrl.out_word("FBIDIO_OUT17_32", dummy)
#dioOutputWord(CONTROLER_BASE2,0x02,dummy);
self.el_rate_d = dummy
if stop_flag:
sys.exit()
return [Az_track_flag, El_track_flag]
def test_move(self,az_speed,el_speed,dist_arcsec = 5 * 3600):
# type check
if isinstance(az_speed,int) and isinstance(el_speed,int) and isinstance(dist_arcsec,int):
type_flag = 1
# get current position
pos = self.enc.read_azel()
# max speed limit
if az_speed > 10000:
az_speed = 10000
if el_speed > 10000:
el_speed = 10000
# speed set
self.dio.ctrl.out_word("FBIDIO_OUT1_16", az_speed)
self.dio.ctrl.out_word("FBIDIO_OUT17_32", el_speed)
else:
type_flag = 0
print("Please input Int.")
if (az_speed == 0 and el_speed == 0) or type_flag == 0:
dist_flag = 0
else:
dist_flag = 1
while dist_flag:
b_time = time.time()
ret = self.enc.read_azel()
if ret[0] < -265 * 3600 or ret[0] > 265 * 3600 or ret[1] < -0.1 * 3600 or ret[1] > 90.1 *3600:
dist_flag = 0
self.dio.ctrl.out_word("FBIDIO_OUT1_16", 0)
self.dio.ctrl.out_word("FBIDIO_OUT17_32", 0)
time.sleep(0.02)
else:
if abs(ret[0] - pos[0]) + abs(ret[1] - pos[1]) >= dist_arcsec:
dist_flag = 0
self.dio.ctrl.out_word("FBIDIO_OUT1_16", 0)
self.dio.ctrl.out_word("FBIDIO_OUT17_32", 0)
time.sleep(0.02)
else:
ret = self.enc.read_azel()
az_enc = ret[0]
el_enc = ret[1]
#for az >= 180*3600 and az <= -180*3600
if az_enc > 40*3600 and az_arcsec+360*3600 < 220*3600:
az_arcsec += 360*3600
elif az_enc < -40*3600 and az_arcsec-360*3600 > -220*3600:
az_arcsec -= 360*3600
self.az_encmoni = ret[0]
self.el_encmoni = ret[1]
#for drive.py
self.t1_moni = self.t1
self.t2_moni = self.t2
interval = time.time()-b_time
if interval <= 0.01:
time.sleep(0.01-interval)
return
def calc_pid(self, az_arcsec, el_arcsec, az_max_rate, el_max_rate):
# Default
"""
Paz = 3.8
Iaz = 8
Daz = 0.11
Pel = 3.73
Iel = 8
Del = 0.07
"""
# New parameter
"""
p_az_coeff = 3.0
i_az_coeff = 2.0
d_az_coeff = 0.
s_az_coeff = 0.
p_el_coeff = 3.0
i_el_coeff = 3.0
d_el_coeff = 0.
s_el_coeff = 0.
"""
f = open('/home/amigos/NECST/soft/obs/telescope_nanten/PID_param.txt')
param = f.read()
f.close()
line1=param.split('\n')
p_az_coeff = float(line1[0])
i_az_coeff = float(line1[1])
d_az_coeff = float(line1[2])
s_az_coeff = float(line1[3])
p_el_coeff = float(line1[4])
i_el_coeff = float(line1[5])
d_el_coeff = float(line1[6])
s_el_coeff = float(line1[7])
DEG2ARCSEC = 3600.
m_bAzTrack = "FALSE"
m_bElTrack = "FALSE"
if self.t2 == 0.0:
self.t2 = time.time()
else:
pass
tv = time.time()
self.server_flag.append(tv)
if len(self.server_flag) == 4:
self.server_flag.pop(0)
self.end_flag = 0
enc_thread = threading.Thread(target = self.read_enc)
enc_thread.start()
count_thread = threading.Thread(target = self.count_time)
count_thread.start()
enc_thread.join()
if self.end_flag:
for i in range(2000):
print("!!!end!!!")
sys.exit()
#ret = self.enc.read_azel()
#az_enc = ret[0]
#el_enc = ret[1]
az_enc = self.th_az
el_enc = self.th_el
#for az >= 180*3600 and az <= -180*3600
if az_enc > 40*3600 and az_arcsec+360*3600 < 220*3600:
az_arcsec += 360*3600
elif az_enc < -40*3600 and az_arcsec-360*3600 > -220*3600:
az_arcsec -= 360*3600
#self.az_encmoni = ret[0]
#self.el_encmoni = ret[1]
self.az_encmoni = self.th_az
self.el_encmoni = self.th_el
self.az_targetmoni = az_arcsec
self.el_targetmoni = el_arcsec
#calculate ichi_hensa
az_err = az_arcsec-az_enc
el_err = el_arcsec-el_enc
"""
#old ver(Unknown)
#integrate error
az_err_integral_integral+=az_err_integral*dt;
el_err_integral_integral+=el_err_integral*dt;
#derivative
azv_err = azv-(az_enc-self.az_enc_before)/self.dt
elv_err = elv-(el_enc-self.el_enc_before)/self.dt
"""
"""
azv_acc = (azv-self.azv_before)
elv_acc = (elv-self.elv_before)
self.azv_before = azv
self.elv_before = elv
if azv_acc > 50:
azv_acc = 50
elif azv_acc < -50:
azv_acc = -50
if elv_acc > 50:
elv_acc = 50
elif elv_acc < -50:
elv_acc = -50
"""
target_az = az_arcsec
target_el = el_arcsec
hensa_az = target_az - az_enc
hensa_el = target_el - el_enc
ret = self.ave_calc(hensa_az, hensa_el) #average of hensa_az(ret[0]) and hensa_el(ret[1])
if 3 > math.fabs(ret[0]):
m_bAzTrack = "TRUE" #def Paz=2?
else:
# az_err_integral += (self.az_err_before+az_err)*self.dt/2.+azv_acc*0.0
m_bAzTrack = 'FALSE'
pass
if 3 > math.fabs(ret[1]):
m_bElTrack = "TRUE" #def Pel=2?
else:
#el_err_integral += (self.el_err_before+el_err)*self.dt/2.+elv_acc*0.0
m_bElTrack = 'FALSE'
pass
self.az_hensamoni = hensa_az
self.el_hensamoni = hensa_el
dhensa_az = hensa_az - self.pre_hensa_az
dhensa_el = hensa_el - self.pre_hensa_el
if math.fabs(dhensa_az) > 1:
dhensa_az = 0
if math.fabs(dhensa_el) > 1:
dhensa_el = 0
self.t1 = time.time()
if self.t_az == 0.0 and self.t_el == 0.0:
self.t_az = self.t_el = self.t1
else:
if (az_enc - self.az_enc_before) != 0.0:
self.current_speed_az = (az_enc - self.az_enc_before) / (self.t1-self.t_az)
self.t_az = self.t1
if (el_enc - self.el_enc_before) != 0.0:
self.current_speed_el = (el_enc - self.el_enc_before) / (self.t1-self.t_el)
self.t_el = self.t1
if self.pre_az_arcsec == 0: # for first move
target_speed_az = 0
else:
target_speed_az = (az_arcsec-self.pre_az_arcsec)/(self.t1-self.t2)
if self.pre_el_arcsec == 0: # for first move
target_speed_el = 0
else:
target_speed_el = (el_arcsec-self.pre_el_arcsec)/(self.t1-self.t2)
ret = self.medi_calc(target_speed_az, target_speed_el)
target_speed_az = ret[0]
target_speed_el = ret[1]
self.ihensa_az += (hensa_az+self.pre_hensa_az)/2
self.ihensa_el += (hensa_el+self.pre_hensa_el)/2
#if math.fabs(hensa_az) > math.fabs(self.current_speed_az)/10.+10.:
#self.ihensa_az = 0
#if math.fabs(hensa_el) > math.fabs(self.current_speed_el)/10.+10.:
#self.ihensa_el = 0
"""
if math.fabs(hensa_az) > 150:
self.ihensa_az = 0
if math.fabs(hensa_el) > 150:
self.ihensa_el = 0
if math.fabs(hensa_az) > 100:
self.ihensa_az = 0
if math.fabs(hensa_el) > 100:
self.ihensa_el = 0
"""
if math.fabs(hensa_az) > 50:
self.ihensa_az = 0
if math.fabs(hensa_el) > 50:
self.ihensa_el = 0
"""Previous
if math.fabs(hensa_az) >= 0.00: # don't use ihensa?
ihensa_az = 0
#hensa_flag_az = 0;
else:
#if(hensa_flag_az == 0 && hensa_az * pre_hensa_az <= 0)
# hensa_flag_az = 1;
#if(hensa_flag_az == 1)
ihensa_az += hensa_az
if math.fabs(hensa_el) >= 0.000:
ihensa_el = 0
#hensa_flag_el = 0;
else:
#if(hensa_flag_el == 0 && hensa_el * pre_hensa_el <= 0)
hensa_flag_el = 1;
#if(hensa_flag_el == 1)
ihensa_el += hensa_el
"""
""" Original
self.az_rate = Paz*az_err + Iaz*az_err_integral + Daz*azv_err_avg +azv*1.57
self.el_rate = Pel*el_err + Iel*el_err_integral + Del*elv_err_avg +elv*1.57
"""
#self.az_rate = target_speed_az * 20.9 + (current_speed_az*20.9 - self.az_rate) * s_az_coeff + p_az_coeff*hensa_az + i_az_coeff*ihensa_az*(self.t1-self.t2) + d_az_coeff*dhensa_az/(self.t1-self.t2)
#self.el_rate = target_speed_el * 20.9 + p_el_coeff*hensa_el + i_el_coeff*ihensa_el*(self.t1-self.t2) + d_el_coeff*dhensa_el/(self.t1-self.t2)
self.az_rate = target_speed_az + (self.current_speed_az - self.az_rate) * s_az_coeff + p_az_coeff*hensa_az + i_az_coeff*self.ihensa_az*(self.t1-self.t2) + d_az_coeff*dhensa_az/(self.t1-self.t2)
self.el_rate = target_speed_el + (self.current_speed_el - self.el_rate) * s_el_coeff + p_el_coeff*hensa_el + i_el_coeff*self.ihensa_el*(self.t1-self.t2) + d_el_coeff*dhensa_el/(self.t1-self.t2)
self.az_targetspeedmoni = target_speed_az
self.el_targetspeedmoni = target_speed_el
self.az_ihensamoni = self.ihensa_az*(self.t1-self.t2)
self.el_ihensamoni = self.ihensa_el*(self.t1-self.t2)
#for drive.py
self.t1_moni = self.t1
self.t2_moni = self.t2
self.az_pidihensamoni = self.ihensa_az
self.el_pidihensamoni = self.ihensa_el
if math.fabs(az_err) < 8000 and self.az_rate > 10000:
self.az_rate = 10000
if math.fabs(az_err) < 8000 and self.az_rate < -10000:
self.az_rate = -10000
if math.fabs(el_err) < 9000 and self.el_rate > 10000:
self.el_rate = 10000
if math.fabs(el_err) < 7000 and self.el_rate < -8000:
self.el_rate = -8000
#update
self.az_enc_before = az_enc
self.el_enc_before = el_enc
self.az_err_before = az_err
self.el_err_before = el_err
self.pre_hensa_az = hensa_az
self.pre_hensa_el = hensa_el
self.pre_az_arcsec = az_arcsec
self.pre_el_arcsec = el_arcsec
#for negative value of az|el_max_rate
az_max_rate = math.fabs(az_max_rate)
el_max_rate = math.fabs(el_max_rate)
if az_max_rate > 16000:
az_max_rate = 16000
if el_max_rate > 12000:
el_max_rate = 12000
#if(az_enc<5*DEG2ARCSEC) rate=min(1000, rate);
softlimit_az_plus = 265.0
softlimit_az_minus = -265.0
softlimit_el_plus = 90.1
softlimit_el_minus = -0.1
#limit of dangerous zone
if (el_enc < softlimit_el_minus * DEG2ARCSEC and self.el_rate < 0 ) or (el_enc > softlimit_el_plus*DEG2ARCSEC and self.el_rate > 0):
el_max_rate = min(0, el_max_rate)
if (az_enc < softlimit_az_minus*DEG2ARCSEC and self.az_rate < 0) or (az_enc > softlimit_az_plus*DEG2ARCSEC and self.az_rate > 0):
az_max_rate = min(1600, az_max_rate); #bug?
#lmit of speed
if self.az_rate > az_max_rate:
self.az_rate = az_max_rate
if self.az_rate < -az_max_rate:
self.az_rate = -az_max_rate
if self.el_rate > el_max_rate:
self.el_rate = el_max_rate
if self.el_rate < -el_max_rate:
self.el_rate = -el_max_rate
# arienai ryouiki deno gyakuunndou kinnsi //bug?
#if az_enc <= -90*DEG2ARCSEC and self.az_rate < 0:
#self.az_rate = 0
#if az_enc >= 380*DEG2ARCSEC and self.az_rate > 0:
#self.az_rate = 0
if az_enc <= softlimit_az_minus*DEG2ARCSEC and self.az_rate < 0:
self.az_rate = 0
if az_enc >= softlimit_az_plus*DEG2ARCSEC and self.az_rate > 0:
self.az_rate = 0
if el_enc <= softlimit_el_minus*DEG2ARCSEC and self.el_rate < 0:
self.el_rate = 0
if el_enc >= softlimit_el_plus*DEG2ARCSEC and self.el_rate > 0:
self.el_rate = 0
self.t2 = self.t1
az_rate_ref = int(self.az_rate) #??
el_rate_ref = int(self.el_rate) #??
return [az_rate_ref, el_rate_ref, m_bAzTrack, m_bElTrack]
def ave_calc(self, az, el):
array_num = 3
length = len(self.az_array)
if length < 3:
self.az_array.insert(0, az)
self.el_array.insert(0, el)
else:
self.az_array.insert(0, az)
self.el_array.insert(0, el)
self.az_array.pop(3)
self.el_array.pop(3)
ave_az = np.average(self.az_array)
ave_el = np.average(self.el_array)
return [ave_az, ave_el]
def medi_calc(self, target_az, target_el):
target_num = 13 # number of median array
if self.count < target_num:
self.target_az_array.insert(0, target_az)
self.target_el_array.insert(0, target_el)
self.count += 1
else:
self.target_az_array.insert(0, target_az)
self.target_el_array.insert(0, target_el)
self.target_az_array.pop(13)
self.target_el_array.pop(13)
median_az = np.median(self.target_az_array)
median_el = np.median(self.target_el_array)
return [median_az, median_el]
def antenna_limit_check(self):
stop_flag = 0
ret = [0]*4
ret[0] = self.dio.ctrl.in_byte('FBIDIO_IN1_8')
ret[1] = self.dio.ctrl.in_byte('FBIDIO_IN9_16')
ret[2] = self.dio.ctrl.in_byte('FBIDIO_IN17_24')
ret[3] = self.dio.ctrl.in_byte('FBIDIO_IN25_32')
for i in range(8):
self.error_box[i] = ret[0] >> i & 0x01
for i in range(8):
self.error_box[i+8] = ret[1] >> i & 0x01
for i in range(8):
self.error_box[i+16] = ret[2] >> i & 0x01
for i in range(8):
self.error_box[i+24] = ret[3] >> i & 0x01
if (ret[0]>>4 & 0x01) == 0:
print('!!!soft limit CW!!!')
stop_flag = 1
if (ret[0]>>5 & 0x01) == 0:
print('!!!soft limit CCW!!!')
stop_flag = 1
if (ret[0]>>6 & 0x01) == 0:
print('!!!soft limit UP!!!')
stop_flag = 1
if (ret[0]>>7 & 0x01) == 0:
print('!!!soft limit DOWN!!!')
stop_flag = 1
if (ret[1]>>0 & 0x01) == 0:
print('!!!1st limit CW!!!')
stop_flag = 1
if (ret[1]>>1 & 0x01) == 0:
print('!!!1st limit CCW!!!')
stop_flag = 1
if (ret[1]>>2 & 0x01) == 0:
print('!!!1st limit UP!!!')
stop_flag = 1
if (ret[1]>>3 & 0x01) == 0:
print('!!!1st limit DOWN!!!')
stop_flag = 1
if (ret[1]>>4 & 0x01) == 0:
print('!!!2nd limit CW!!!')
stop_flag = 1
if (ret[1]>>5 & 0x01) == 0:
print('!!!2nd limit CCW!!!')
stop_flag = 1
if (ret[1]>>6 & 0x01) == 0:
print('!!!2nd limit UP!!!')
stop_flag = 1
if (ret[1]>>7 & 0x01) == 0:
print('!!!2nd limit DOWN!!!')
stop_flag = 1
return stop_flag
def read_azel(self):
#return [self.az_encmoni, self.el_encmoni, self.az_targetmoni, self.el_targetmoni, self.az_hensamoni, self.el_hensamoni, self.az_rate_d, self.el_rate_d, self.az_targetspeedmoni, self.el_targetspeedmoni, self.current_speed_az, self.current_speed_el, self.az_ihensamoni ,self.el_ihensamoni]
#for drive.py
return [self.az_encmoni, self.el_encmoni, self.az_targetmoni, self.el_targetmoni, self.az_hensamoni, self.el_hensamoni, self.az_rate_d, self.el_rate_d, self.az_targetspeedmoni, self.el_targetspeedmoni, self.current_speed_az, self.current_speed_el, self.az_ihensamoni ,self.el_ihensamoni ,self.t1_moni ,self.t2_moni ,self.az_pidihensamoni ,self.el_pidihensamoni]
def read_error(self):
return self.error_box
def nanten_main_client(host, port):
client = pyinterface.server_client_wrapper.control_client_wrapper(nanten_main_controller, host, port)
return client
def nanten_main_monitor_client(host, port):
client = pyinterface.server_client_wrapper.monitor_client_wrapper(nanten_main_controller, host, port)
return client
def start_nanten_main_server(port1 = 7003, port2 = 7004):
nanten_main = nanten_main_controller()
server = pyinterface.server_client_wrapper.server_wrapper(nanten_main, '', port1, port2)
server.start()
return server