Wiregrid Tilt Sensor Agent #656
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* Successful publishing of dummy test file info * Implement 'test mode' for pysmurf monitor * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Run pre-commit on all new/updated files * Adjust agent path in test for new location in repo * Create sqlite db file in tmp directory * Use 'store_true' for test-mode arg * Add test_mode arg to method signature * Disable startup of run process in test mode * Always break out from run process in test mode * Create test for session_log message type * Create test for metadata message type * Create test files on the fly * Move port numbers for binding in common tests * Improve realism of test file data --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Brian Koopman <[email protected]>
This would prevent the agent code for ibootbar and thorlabs_mc2000b from installing with the library.
* pid loop process plus tasks from old ucsd 372 agent * add docstrings for enable/disable channel tasks * docstrings and ocs decorator for get channel settings task * docstrings and ocs decorator for set cal curve task * add ocs decorators for getinputsetup and custom pid task, add docstrings for getinputsetup * combine enable/disable channel task to one task * change docstrings for custom PID task and publish PI values * change power_channel to toggle_channel * toggle_channel is now engage_channel; publish PID vals to feed; clean up custompid task * remove extra lines from merging develop into ls372-custompid branch * fix get_channel_settings name when registering task * fix engage_channel for calling enable/disable method in driver code * remove get_channel_settings() task * fix typos in custom pid process * comment out publishing PID vals; needs more thought * fix set_calibration_curve() task * fix typo in set_calibration_curve() task * fix another typo in set_calibration_curve() task * expand return statement for set_calibration_curve() task * update 372 driver code call to get_input_setup() * remove check control_ch in servo_to_temperature() task for now * implement flake8 errors * fix more flake8 errors * remove publishing PI values for now * more flake8 comments to fix * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix docstrings * change print statement to self.log.info() * make stop_custom_pid process a hidden method * restrict channel and curve numbers for set_calibration_curve() task * add session.data structure in place of session.add_message() for get_input_setup() * document session.data structure in docstrong for custom pid process * add tests for 3 new LS372 tasks * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * change I value in custom pid to float type * add test for custom pid process * add test_mode to custom pid process * split custom pid process test into 2 to test sample and still * add log-dir argument to 372 tests * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * add control channel to set_calibration_curve task and fix docstring * fix docstring for session.data output in custom pid process * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * add test_mode in custom pid process to docstring * add docstring to note session.data channel changes * wrap test lines * fix session.data for get_input_setup() task and add to docstring * add test_mode into Parameters section of docstring --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
updates: - [github.com/pre-commit/mirrors-autopep8: v2.0.1 → v2.0.2](pre-commit/mirrors-autopep8@v2.0.1...v2.0.2)
* timing master agent * Adds docs * Change "TIming Master" to "Timing Card" * Small Fixes * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * small fix * Add __init__ file for agent import * Add timing card agent to old plugin file * Comment rtd env var manipulation * Update dependency installation options and docs * Address feedback * Fix session data * Add session data example * Add notes header to docstring --------- Co-authored-by: cryo <cryo@$(hostname)> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Brian Koopman <[email protected]>
* adds sample quantization and drop chance * param docs * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix test * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Add sleep docstring --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Make updates based on LAT + SAT testing This commit is a squash of a large PR, see #403 on GitHub for details. The full commit list is included here below. * Update _run_specified_scan to abort when stop_and_clear is called _run_specified_scan now checks whether the number of free upload positions is greater than 9997, in which case it posts a log warning and ends the Task. This update is intended to catch cases where the stop_and_clear Task is used to abort a scan, and prevents _run_specified_scan from continuing to upload points after stop_and_clear is called. * fix @ocs_agent.param decorators and uncomment * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * New parameter for scan start position in generator scans Include new string parameter az_start to indicate the beginning point of a generator scan. Defaults to starting scans from the midpoint between the two az endpoint inputs. * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Add parameters to generate_scan process Add parameters for all newer generate_scan variables to agent. * Add defaults to params in generate_scan No longer require user to provide all inputs for generate_scan. All new options still exist, but now have default values. * Check modes instead of free positions, limit hanging at end of _run_specified_scan Remove checks for free positions to determine if stop_and_clear was called and replace with checks for mode. Check for 1s to determine settling at the end of the scan (needs future update for velocity dependence) * Keyword arguments update, fix typos Create dictionary of optional params in generate_scan and ** method of passing them. Fix indentation in docstring, remove ptstack_fmt from docstring, fix docstring typo * Remove hanging "attempt number", bug fix for number of free positions at end of scan Attempt to stop scan when rounding takes awhile removed because it caused hanging when the scan actually reaches the end position. Free upload positions at the end of the scan seems to be 9999 instead of 10000, so updated the wait to look for this value. * Only check for Boresight commanded position when using satp platform config Because there is no boresight axis in the CCAT dataset * generate_scan checks azimuth mode generate_scan now checks whether the azimuth mode is ProgramTrack. If not, it cleanly exits, which allows the user to override generate_scan with stop_and_clear * Add mode catch in go_to go_to now looks for mode changes from Preset and exits the task if the mode changes * New process restart_idle Sends a Datasets.CmdModeTransfer RestartIdleTime command to the ACU every 4 min 55 s. This is a response to a LAT FAT safety feature. * Make restart_idle startup=False * new task preset_stop_clear New task preset_stop_clear sets motion mode to Preset a few degrees from the current position (velocity-dependent), waits for the platform to settle, then changes to Stop and clears the stack (twice). This task provides a smoother motion end than stop_and_clear, as requested during LAT tests * add upload points publishing to generate_scan * ACUAgent: update generate_scan for LAT testing Defaults for wait_to_start and step_time are changed. New parameter "num_scans" to produce finite scan. * ACUAgent: a bunch of stuff from LAT testing - Optionally perform additional read of special 3rd axis dataset. - To support 3rd axis, more enum data is added to convert string -> int. - RestartIdleTime default period is now 60s - Slight change in how monitor frequency is measured. - ProgramTrack point saving is commented out, probably temporarily * ACUAgent: generate_scan handles num_scans parameter * ACUAgent: generate_scan handles finite scans without crashing * ACUAgent - improve generate_scan It has an azonly mode now, and that is the default. Bugs fixed in the monitoring of point stack at the end of the process. Also, a more complete "Mode" enum for influxdb integerification. * ACUAgent: generate_scan has ramp_up param to bias the first leg * ACUAgent: add more axis modes and renumber to match ICD * ACUAgent: 3 more modes... * ACU Agent updates: go_to, generate_scan, clear_faults - In go_to, add some logging and an azonly option - In generate_scan, clear the stack before and after scanning - In generate_scan, fill the stack less so canceling scans takes less time - Add new task clear_faults to clear out motion faults/errors * Updates to monitor process session.data information - On 'monitor' startup, record platform name in session.data - After calculating the response frequency, record in session.data - Create subdictionaries 'StatusDetailed' and 'Status3rdAxis' in session.data for recording values * Update to monitor to log mode and remote changes and time problems - monitor checks the previous value of ctime and determines if it has changed - monitor checks the previous values of axis mode and determines if they have changed - monitor checks whether the ACU is in remote mode and warns if it is not * Motion tasks/processes check whether ACU is in remote mode and warn if not * Motion tasks/processes check whether broadcast and monitor are running and warn if data points might be stale. * Bug fix for set_boresight Third axis is only named boresight for satp, so differentiate between platforms in set_boresight. * ACUAgent: convergence - comment out invalid feed post * ACUAgent: convergence - flake8 * ACUAgent: convergence - imports and main func * updates to set_boresight rounding for site testing * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * ACU: wait a beat after last program track point * Remove extraneous print statements from acu_agent.py Rebase onto mhasself/acu-convergence * Change stop_and_clear call to acu_control.stop() instead of acu_control.mode() This change sets all axes to Stop mode, instead of just Azimuth and Elevation. * partial fix to logging issue in generate_scan * Remove _try_set_job from agent.py * add sh.plan_scan to agent function generate_scan * add new function plan_scan to drivers * allow for ramp-up to scans. add plan_scan function to drivers to plan how far in advance the scan starts add plan_scan usage to agent * bug fix for scans with negative velocity * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * set_boresight checks for valid position range and exits the task if invalid. go_to position range changed to < and > instead of <= and >= * set_boresight checks modes and exits if the mode changes from Preset. * go_to and set_boresight only set the axes moved by the task to stop if end_stop is True * stop_and_clear tries 5 times to stop, then 5 times to clear * stop_and_clear returns failure if stop or clear fails * bug fix for set_boresight Add dsleep(0.2) between sending the go_3rd_axis command and checking mode; task otherwise quits too early. * correct typo in set_boresight that causes crash * add session.set_status('running') at the top of tasks * reduce number of points uploaded in generate_scan to make stops/aborts more responsive * After creating the session.data dictionary in monitor, use session.data.update to update the values instead of remaking the dictionary * go_to checks motion modes more frequently during motion to determine whether they have changed from Preset. go_to also distinguishes between azonly and not azonly for mode checking * - Add session.set_status('stopping') at the end of all operations - Add abort function, unclear how to implement * Add abort implementation for go_to and set_boresight * Update locking to prevent multiple commands from being sent to the ACU before task completion * Partial bug fix for broadcast influx feed * Bug fix for broadcast ensure that process_data always has len 200 * fix ordering in go_to that causes it to loop and never stay in stop mode * bug fix for registering a task that can be aborted * change aborter_blocking to False in task registration because _abort_motion_op uses @inlineCallbacks * remove _set_job_done from all operations * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * remove print statement from set_boresight * change _abort_agent_ops to perform preset_stop_clear and fix bugs in preset_stop_clear * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * update broadcast session.data with the same data as influx data (1 Hz) * change how strings are cut in broadcast session.data and remove print statement * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * create separate abort features and preset_stop_clear operations for azel and boresight * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * add session.set_status and status check for fromfile_scan * acu: fix whitespace and other flakes * acu: fix vel~0 detection * ACU: increase post-progtrack wait time a lot * ACU: Suppress local mode log spam * ACU: log when UDP stream is up/down * ACU: check_daq_streams returns false on any trouble * ACU: remove wait arg from go_to (removed in soaculib) * ACU: disable seek/ramp_up processing temporarily * ACU: work-around stalling scans * ACU: go_to uses a state machine loop Now that we understand the real behaviors of ACU better, it is possible to write a simpler state-machine to handle the motions. The rounding and azonly arguments have been removed, as they probably aren't needed anymore. The "wait" argument will be removed once ocs-web stops passing it. This implementation fixes a couple of bugs: abort works reliably; and Preset mode isn't set without first setting the target position (which is a potential problem in some cases, such as when the ACU has just powered up). * ACU: refine go_to states; add error checking This is tested at site in a variety of modes, including cold start (warning siren delay). * ACU: move some motion readiness checks into a function * ACU: generalize go_to state machine by axis * ACU: set_boresight uses the generalized state machine * ACU: smarter time-out on "motion expected", continue paring * ACU: remove _set_job_stop in favor of _simple_process_stop * ACU: fix process stop on monitor, broadcast, restart_idle * ACU: separate locks for boresight and azel * ACU: use session.status, not self.jobs, to check processes. * ACU: remove self.jobs * ACU: reduce data rate logging * ACU: generate_scan is stoppable Some stack maintenance stuff is hard-coded in number of points instead of time... to be fixed next. * ACU: tune point stack maintenance thresholds in generate_scan * ACU: generate_scan can seek to starting point Also sets wait_time and step_time optimally. * ACU: in plan_scan rename some vars, add docs * ACU: also accept az_start='mid','end' * ACU: rename acc to az_accel * ACU: param-decorate generate_scan * ACU: review param descriptions in generate_scan * ACU: rename set_boresight param to "target" * ACU: docs include session.data. Also add PlatformType to status session.data * ACU: bugfix last commit * ACUAgent: simplify from_file * ACU: remove some commented upload feed stuff * ACU: refactor generate_scan to call a generic _run_track * ACU: fromfile_scan uses the _run_track helper. * ACU: remove unused functions * ACU: misc changes for PR Mostly removing unused functions; reformatting of log message * ACU: more cleanup for PR review * ACU: fix timecode function end-of-year bugs * ACU: move timecode function into drivers.py * ACU: replace computation with timecode call --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Matthew Hasselfield <[email protected]>
* add flowmeter to plugin.py * commit new agent for flowmeter from IFM * fix typo in plugin.py for ifm flowmeter agent * update agent with different class name * update plugin * fix argparse error * clean up code, docstrings, and invoke flake8 * add flowmeter to index.rst file * fix docstring typo when making default statements * remove print(data) line in acq * forgot to add test_mode arg in acq docstring * commit flowmeter documentation * change on_rtd in agent * add pyModbusTCP library to socs requirements for flowmeter (+ powermeter and generator in near future) * clean up documentation for flowmeter agent * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * add flowmeter agent that queries values using http requests * remove print statement in acq process * change agent args from url to ip addres * commit changes made from flake8'ing * change documentation to reflect http requests * convert F and gallons/min to C and liters/minute * round up new flow and temp values to nearest tenths place * revert the addition of pymodbusTCP library for socs' requirements.txt file * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix OCSAgent docstring typo * update add_agent_args() structure * forgot to add session.data block * fix docstring typo for test_mode arg in acq() * fix ocs-ibootbar typo to ocs-flow * move network config under Description section * consistent-ify 'IO-Link master' name across doc * add IFM to front of doc title * clean up session.data structure to include 'fields' + add session.data to docstring * check serial number on initialization * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix serial_num typo in __init__ * fix daq device lingo in agent docstrings * fix 'IO-Link device' to 'IO-Link master' * update network configuration to simpler/more consistent wording * update LR device software description * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix typo in software subsection * Change some docs for consistency and wording --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Brian Koopman <[email protected]>
* using pysnmp-lextudio and pyasn1 0.4.8 * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Move pid_controller drivers to new hwp_pid agent * split hwp_rotation into hwp_pmx and hwp_pid Originally committed by @ykyohei in 18c2b37. Recommitted in order to preserve history of pid_controller.py. * add docs * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * consistency of ip port * fix imports * fix target & direction acq * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix typo * fix flake8 errs * fix flake8 * hwp: remove redundant descriptions from docs * hwp: add close method to pmx * fix class namen args * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * fix docstings, names * fix init, docstrings * hwp: change structure of the target freq reading * Clean up some documentation formatting * Add new HWP agents to plugin files * remove close from _stop_acq * Add test mode to PMX agent acq process * Add timeout to PMX Ethernet connection * Remove HWP Rotation Agent Also split the old hwp rotation agent tests into separate tests for the PID and PMX agents. * Change ports used in testing HWP hardware --------- Co-authored-by: Brian Koopman <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
for more information, see https://pre-commit.ci
for more information, see https://pre-commit.ci
"host" network mode is incompatible with port binding. The port binding example also shows a restriction to just accepting connections from localhost, which I don't think we want if the encoder is across the network and not running on the same machine that the wg-encoder agent is running.
* fix get_status * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * minor bug fix self.read() was duplicated * read twice in relay_read * clear queue in blockingCallFromThread --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: jsugiyama <[email protected]>
* add documentation of udev rules for hwp-pcu * Wrap text to 80 characters * Edit udev rule description --------- Co-authored-by: Brian Koopman <[email protected]>
Bumps [styfle/cancel-workflow-action](https://github.com/styfle/cancel-workflow-action) from 0.12.0 to 0.12.1. - [Release notes](https://github.com/styfle/cancel-workflow-action/releases) - [Commits](styfle/cancel-workflow-action@0.12.0...0.12.1) --- updated-dependencies: - dependency-name: styfle/cancel-workflow-action dependency-type: direct:production update-type: version-update:semver-patch ... Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
* ACU: increase overall timeout The timeout has been marginal recently since the max platform speeds on SATP1 & 3 were lowered to 0.5 deg/s, which was the vel used to estimate the timeout. * ACU: allow more time for _run_scan to enter ProgramTrack mode * ACU: suppress Sun escape (and logging) if platform not moveable * ACU: go_to_axes patiently waits for the warning horn to sound * ACU: minor tweaks / fixes for last few bug fix commits * ACU: add trap for case where track is getting dropped This can't be detected other than through the track stack size. * ACU: fix bug where scan could exit prematurely Could this be the *last* bug in scanning?!
* add resolutions as parameter * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * pad resolutions list --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Fix 'encoder_data' field when storing session.data * Update 'encoder_data' field usage in kikusui agent
* HWP Emulation and PID restructure * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * More complete PMX emulation * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Changes based on Brian's review * fix session.data + threading in PID agent * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Fixes from further testing of PID agent * remode PID start mode from docs * Fix tests * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Fix mutable defaults * Adds traceback to device-emulator exception * adds time to device emulator logs * add debug print to when readline failes * change order of tests * test * change to update_responses * test update_responses * update_responses docstring * more testing race-conditions * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Adds session data info to docstring --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
… kikusui agent (#615) * update the log file treatment of the wiregrid_kikusui
* Add device_emulator reconnect on lost connection * HWP Supervisor Action system * docs, misc changes * Separate "gripper" and "driver" ibootbars * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Makes tcp reconnection optional * Docs updates * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Addresses Brian's feedback --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Adding Hi6200 Agent for reading LN2 on SATp * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Corrected some whitespace and style issues * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Fixed my fight with the pre-commit bot * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Added in edits from Brian's PR comments. Added docs. (Attempted) removal of all swap files * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Attempting to fix disconnect error catching * Added catch in monitor weight for AttributeError. Cleaned up code as per Brian's comments. * Actually fixed Brian's comments regarding pacemaker, privatizing decoding function, etc. * Remove layer of nesting in main process * Add job names to lock * Wrap agent code to 80 characters * Add agent to docs index * Add driver code to docs page * Format driver docstrings and wrap code to 80 characters --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Brian Koopman <[email protected]>
* Updates from supervisor testing on satp3 * docstring for CheckInitialState * remove print statement * brian's comments * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* add outlet names * address comments * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * change acq name in integration test * add number of outlets parameter * fix num_outlets --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
* Added wind chill temperature to acquisition data * [pre-commit.ci] auto fixes from pre-commit.com hooks for more information, see https://pre-commit.ci * Limit wind chill calc upper range --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Brian Koopman <[email protected]>
This changes the type from an int to a float, which once published to an InfluxDB is immutable without completely removing or rewriting the measurement. This will allow deployment, while we figure out a solution there.
…s/socs into develop_wiregrid_tiltsensor
BrianJKoopman
requested changes
Apr 23, 2024
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Before I make any substantive comments here, can you extract only the relevant commits? This branch currently contains many old, already merged commits. It should contain just the commits related to adding your new agent. Once that's done you should force push to this branch.
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Superseded by #660. |
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Description
This pull request contains agent and several driver codes to handle wiregrid tilt sensors.
There are two types of tilt sensors, so two drivers are contained.
Motivation and Context
Add this agent to the main branch.
How Has This Been Tested?
This agent has been tested in a test bench of wire grid at Kyoto University only with DWL tilt sensor via USB.
The test with sherborne tilt sensor has not performed yet.
Also, the test with a serial-to-ethernet converter (the same condition as at site) has not performed yet.
Types of changes
Checklist: