KAEPEK-IO V4.1.0

IO controller. Enabling IO to be piped from various inputs to different devices over network/serial communication ports.

Install:

npm install
npm run build
npm link

Relink (if package.json bin property has changed):

npm run build
npm ls --global
npm uninstall --global kaepek-io
npm link

or

npm run build
npm run relink

Commands:

kaepek-io-director command

CLI to enable directing various input / output streams.

Configuration:

Inputs sources (-i or --source):
- dualshock
- keyboard (optional configuration: <smooth_analog?>,<smooth_motion?>,<joy_deadband?>,<move_deadband?>)
- network (configuration: <host>,<port>,<protocol:'tcp'|'upd'>)
Control words (-c or --control_word):
- null
- start
- stop
- reset
- thrustui16
- directionui8
Peripheral devices (-p or --peripheral):
- console
- network (configuration <host>,<port>,<protocol:'tcp'|'upd'>)
- serial (optional configuration <baud_rate?>,<path?> defaults to baud_rate=5000000 and path=/dev/ttyACMX [where X is the lowest found device index])
Outputs sinks (-o or --sink):
- console
- network (configuration <host>,<port>,<protocol:'tcp'|'upd'>)

Example use:

kaepek-io-director -i keyboard -c stop start null -p console serial -o network=localhost,9000,udp console

This command example will setup a keyboard input source, it will moderate the stop, start and null control words, it will pipe the control words to both a serial device as well as logging the control words to console, finally it will redirect the output of the serial device to a network sink localhost:9000 via the udp protocol and it will also pipe the serial device output to the console.

Combining arguments:

kaepek-io-director -i <input-source-1> <input-source-2> -c <control-word-1> <control-word-2> -p <peripheral-device-1> <peripheral-device-1> -o <output-sink-1> <output-sink-2>

or

kaepek-io-director --source <input-source-1> <input-source-2> --control_word <control-word-1> <control-word-2> --peripheral <peripheral-device-1> <peripheral-device-1> --sink <output-sink-1> <output-sink-2>

or

kaepek-io-director -i <input-source-1> -i <input-source-2> -c <control-word-1> -c <control-word-2> -p <peripheral-device-1> -p <peripheral-device-1> -o <output-sink-1> -o <output-sink-2>

or

kaepek-io-director --source <input-source-1> --source <input-source-2> --control_word <control-word-1> --control_word <control-word-2> --peripheral <peripheral-device-1> --peripheral <peripheral-device-1> --sink <output-sink-1> --sink <output-sink-2>

Optional fields (all else are required):

--sink or -o

Element configuration

Elements which require configuration have their arguments seperated by a '=' delimeter, only for elements which need it.

Network sink configuration example (with a console sink as well) e.g.

-o network=localhost,9000,udp console

or

--sink network=localhost,9000,udp console

or

-o network=localhost,9000,udp -o console

or

--sink network=localhost,9000,udp --sink console

kaepek-io-netsend command

Configuration:

host -a or --host e.g. -h localhost (defaults to 'localhost')
port -p or --port e.g. -p 9000 (defaults to '9000')
protocol -n or --protocol e.g. -n upd (defaults to 'upd')
word -w or ---word e.g. thrustui16
data (optional only for words which require data) -d or --data e.g. -d 2

Example usage

kaepek-io-netsend -h localhost -p 8002 -n udp -w thrustui16 -d 2

This command will send the thrustui16 control word with a thrust level of 2 via upd port 8002 to the host localhost. Note for this command to do anything the director must be run with a input source of kaepek-io-director -i network=localhost,8002,udp <...other configs> which will capture and process the send word.

kaepek-io-graph command

Performs realtime graphing from data coming from kaepek-io-direction (provided it has an output sink sending data to the program) given a config file which informs it how to read/plot the data.

Install

In order to use this command you must install bokeh globally via pip install bokeh==2.4.3.

Configuration:

address -a or --address e.g. -a localhost
port -p or --port e.g. -p 9002
config -c or --config e.g. -c ./lib/host/graphing/config.json

Example usage

kaepek-io-graph --address localhost --port 9002 --config ./lib/host/graphing/config.json

This command will open the bokeh graph server, the server will listen on address localhost, port 9002 via a udp socket. Incoming network ASCII data row is delimited by , for each data column. The graph server then parses the data using the provided config.json via the "inputs" config attribute which unpacks the line and finally it plots the data based on the "plots" config attribute. Config example.

Note that in order for this graph server to recieve any data then the director must have a network output sink to redirect peripheral output to the server. For the above example the following output sink should be added kaepek-io-director -o network=localhost,9002,udp <...other configs>

kaepek-io-graph-file command

Program creates graphs from a csv file, given a config file which informs it how to read/plot the data and an output file where it will save the result.

Install

In order to use this command you must install bokeh globally via pip install bokeh==2.4.3.

Configuration:

input data csv file location -i or --input_data_file e.g. ./some-dir/some-file.csv
config -c or --config e.g. -c ./lib/host/graphing/config.json

Example usage

kaepek-io-graph-file -i ./some-dir/some-file.csv -c ./lib/host/graphing/config.json`

The outputed graph file for inspection would be ./some-dir/some-file.csv.html

c++ lib

The peripheral com lib SerialInputControl can be inherited from and an implementation of the process_host_control_word method to handle the control words can be defined like in the example file

#include "lib/comlib.cpp"

namespace kaepek
{
  /**
   * Dummy Base class
   */
  class BaseTester
  {
  public:
    BaseTester() {}
  };

  /**
   * ComTester a class to demonstrate the use of SerialInputControl
   */
  class ComTester : public BaseTester, public SerialInputControl<4>
  {
  private:
    /**
     * Method to handler control input recieved via the serial port
     * @param control_word The SerialInputCommandWord in question e.g. Start Stop Thrust1UI16
     * @param data_buffer Optional data buffer. Words which have values associated with them e.g. Thrust1UI16 has type bytes worth of data in the buffer.
     */
    void process_host_control_word(uint32_t control_word, uint32_t *data_buffer)
    {
      uint16_t com_torque_value = 0;
      float float_value = 0;
      switch (control_word)
      {
      case SerialInputCommandWord::Null:
        Serial.println("Recieved word Null");
        break;
      case SerialInputCommandWord::Start:
        Serial.println("Recieved word Start");
        break;
      case SerialInputCommandWord::Stop:
        Serial.println("Recieved word Stop");
        break;
      case SerialInputCommandWord::Reset:
        Serial.println("Recieved word Reset");
        break;
      case SerialInputCommandWord::Thrust1UI16:
        Serial.println("Recieved word Thrust1UI16");
        com_torque_value = (data_buffer[1] << 8) | data_buffer[0];
        Serial.print("Word value: ");
        Serial.println(com_torque_value);
        break;
      case SerialInputCommandWord::Direction1UI8:
        Serial.println("Recieved word Direction1UI8");
        Serial.print("Word value: ");
        Serial.println(data_buffer[0]);
        break;
      case SerialInputCommandWord::ProportionalF32:
        Serial.println("Recieved word ProportionalF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::IntegralF32:
        Serial.println("Recieved word IntegralF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::DerivativeF32:
        Serial.println("Recieved word DerivativeF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::Phase1F32:
        Serial.println("Recieved word Phase1F32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::Phase2F32:
        Serial.println("Recieved word Phase2F32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::Offset1F32:
        Serial.println("Recieved word Offset1F32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::Offset2F32:
        Serial.println("Recieved word Offset2F32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::SetPointF32:
        Serial.println("Recieved word SetPointF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::PowerLawSetPointDivisorCWF32:
        Serial.println("Recieved word PowerLawSetPointDivisorCWF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::PowerLawRootCWF32:
        Serial.println("Recieved word PowerLawRootCWF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::PowerLawSetPointDivisorCCWF32:
        Serial.println("Recieved word PowerLawSetPointDivisorCCWF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::PowerLawRootCCWF32:
        Serial.println("Recieved word PowerLawRootCCWF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::LinearSetpointCoefficientCWF32:
        Serial.println("Recieved word LinearSetpointCoefficientCWF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::LinearSetpointCoefficientCCWF32:
        Serial.println("Recieved word LinearSetpointCoefficientCCWF32");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::LinearBiasCW:
        Serial.println("Recieved word LinearBiasCW");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      case SerialInputCommandWord::LinearBiasCCW:
        Serial.println("Recieved word LinearBiasCCW");
        *((unsigned char *)&float_value + 0) = data_buffer[0];
        *((unsigned char *)&float_value + 1) = data_buffer[1];
        *((unsigned char *)&float_value + 2) = data_buffer[2];
        *((unsigned char *)&float_value + 3) = data_buffer[3];
        Serial.print("Word value: ");
        Serial.println(float_value);
        break;
      default:
        Serial.print("Recieved unknown word: ");
        Serial.println(control_word);
        break;
      }
    }

  public:
    /**
     * ComTester constructor, demostrates multiple inheritance
     */
    ComTester()
        : BaseTester(), SerialInputControl<4>()
    {
    }

    /**
     * Method to invoke the control input read method.
     */
    void run()
    {
      read_input();
    }
  };
}

// Create instance.
kaepek::ComTester device;

// Setup logic.
void setup()
{
}

// Loop logic.
void loop()
{
  device.run();
}

Troubleshooting

If you get an installation error mentioning a build error for sbc/sbc.o along the lines of:

npm ERR! ../sbc/sbc.c:83:18: error: expected ‘(’ before ‘packed’
npm ERR!    83 | } __attribute__ (packed);

Make sure to modify the package.json file to specify the correct dualshock controller library that matches your platform:

For Windows:

  "dependencies": {
    "dualshock": "github:jk89/dualshock",

For Linux:

  "dependencies": {
    "dualshock": "github:jk89/dualshock-linux",

To disable it completely:

  "dependencies": {
    "dualshock": "github.com/jk89/dualshock-disable",

How to prepare the Teensy40 platform:

Install Arduino IDE v1.8.19
Install Teensyduino v2.1.0

Name		Name	Last commit message	Last commit date
Latest commit History 235 Commits
.vscode		.vscode
lib		lib
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md
package.json		package.json
tsconfig.json		tsconfig.json

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KAEPEK-IO V4.1.0

Install:

Relink (if package.json bin property has changed):

Commands:

kaepek-io-director command

Configuration:

Example use:

Combining arguments:

Optional fields (all else are required):

Element configuration

kaepek-io-netsend command

Configuration:

Example usage

kaepek-io-graph command

Install

Configuration:

Example usage

kaepek-io-graph-file command

Install

Configuration:

Example usage

c++ lib

Troubleshooting

How to prepare the Teensy40 platform:

General dependancies:

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KAEPEK-IO V4.1.0

Install:

Relink (if package.json bin property has changed):

Commands:

kaepek-io-director command

Configuration:

Example use:

Combining arguments:

Optional fields (all else are required):

Element configuration

kaepek-io-netsend command

Configuration:

Example usage

kaepek-io-graph command

Install

Configuration:

Example usage

kaepek-io-graph-file command

Install

Configuration:

Example usage

c++ lib

Troubleshooting

How to prepare the Teensy40 platform:

General dependancies:

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