Freeze pyluos version to 1.2.

luos-modules/Untitled.ipynb

@@ -0,0 +1,6 @@
+{
+ "cells": [],
+ "metadata": {},
+ "nbformat": 4,
+ "nbformat_minor": 4
+}

software/notebooks/Bench orbita communication.ipynb

@@ -0,0 +1,164 @@
+{
+ "cells": [
+  {
+   "cell_type": "code",
+   "execution_count": 1,
+   "metadata": {},
+   "outputs": [],
+   "source": [
+    "import time\n",
+    "import numpy as np\n",
+    "\n",
+    "from pyluos import Device\n",
+    "from glob import glob"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 2,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "-------------------------------------------------\n",
+       "Type                Alias               ID   \n",
+       "-------------------------------------------------\n",
+       "Gate                r_head              1    \n",
+       "ControlledMotor     disk_top            2    \n",
+       "ControlledMotor     disk_middle         3    \n",
+       "ControlledMotor     disk_bottom         4    \n",
+       "DynamixelMotor      dxl_30              5    \n",
+       "DynamixelMotor      dxl_31              6    "
+      ]
+     },
+     "execution_count": 2,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "io = Device(glob('/dev/cu.usbserial-*')[0])\n",
+    "io.modules"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 3,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "(5.0, 0.0)"
+      ]
+     },
+     "execution_count": 3,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "s = []\n",
+    "\n",
+    "for _ in range(1000):\n",
+    "    try:\n",
+    "        s.append(io._state['modules'].keys())\n",
+    "    except KeyError:\n",
+    "        print(io._state)\n",
+    "    time.sleep(0.01)\n",
+    "\n",
+    "l = [len(ss) for ss in s]\n",
+    "l = np.array(l)\n",
+    "\n",
+    "l.mean(), l.std()"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 4,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "defaultdict(int,\n",
+       "            {'disk_top': 1000,\n",
+       "             'disk_middle': 1000,\n",
+       "             'disk_bottom': 1000,\n",
+       "             'dxl_30': 1000,\n",
+       "             'dxl_31': 1000})"
+      ]
+     },
+     "execution_count": 4,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "from collections import defaultdict\n",
+    "\n",
+    "occ = defaultdict(int)\n",
+    "\n",
+    "for ss in s:\n",
+    "    for mod in ss:\n",
+    "        occ[mod] += 1\n",
+    "        \n",
+    "occ"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": 5,
+   "metadata": {},
+   "outputs": [
+    {
+     "data": {
+      "text/plain": [
+       "{'modules': {'disk_top': {'rot_position': 109.16},\n",
+       "  'disk_middle': {'rot_position': 158.0},\n",
+       "  'disk_bottom': {'rot_position': 6.206},\n",
+       "  'dxl_30': {'rot_position': 0.147},\n",
+       "  'dxl_31': {'rot_position': -150.0}},\n",
+       " 'timestamp': 1595842274.621845}"
+      ]
+     },
+     "execution_count": 5,
+     "metadata": {},
+     "output_type": "execute_result"
+    }
+   ],
+   "source": [
+    "io._state"
+   ]
+  },
+  {
+   "cell_type": "code",
+   "execution_count": null,
+   "metadata": {},
+   "outputs": [],
+   "source": []
+  }
+ ],
+ "metadata": {
+  "kernelspec": {
+   "display_name": "Python 3",
+   "language": "python",
+   "name": "python3"
+  },
+  "language_info": {
+   "codemirror_mode": {
+    "name": "ipython",
+    "version": 3
+   },
+   "file_extension": ".py",
+   "mimetype": "text/x-python",
+   "name": "python",
+   "nbconvert_exporter": "python",
+   "pygments_lexer": "ipython3",
+   "version": "3.8.5"
+  }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 4
+}