This package implements a communications protocol in C to work with Twinleaf sensors using Twinleaf I/O (TIO) as the communications layer. Data from the sensors is received via PUB messages and sensor parameters may be changed using REQ/REP messages.
The proxy is run on a serial port and serves TCP access to the sensor. Multiple clients may connect to port 7855 and recieve data. The usage is simply:
$ bin/proxy /dev/cu.ttyUSB0
where the serial device varies across platforms. The labview and python clients may simultaneously connect to the proxy server. In WSL, please note the COM port in the Device Manager and then use /dev/ttyS3 for COM3.
If the proxy is already running, simple RPC requests can be performed on the command line or from shell scripts using the rpc_req command:
$ bin/rpc_req gmr.data.decimation
04 00 00 00
u32: 0x00000004 4
s32: 4
f32: 0.000000
The user must know the data type to send a valid RPC request:
$ bin/rpc_req gmr.data.decimation u32:10
$ bin/rpc_req gmr.data.autocutoff u8:0
$ bin/rpc_req gmr.data.cutoff f32:30
This set of commands changed decimation to 10 points, turned off the automatic antialias filter and changed the filter cutoff to 30 Hz.
libtio is an included submodule. Be sure to run git submodule update --init after cloning this repository. The tools compile and run on standard POSIX systems. To get a build environment use:
- Linux and WSL (Ubuntu):
apt install build-essential libssl-dev - macOS: build tools;
xcode-select --install - macOS: openssl library;
brew install openssl - WSL: WSL 2 does not support serial ports, so downgrade to 1 using
PS> wsl --set-version Ubuntu-20.04 1
Clone this repository, clone the submodule, build, and install:
git clone https://github.com/twinleaf/tio-tools.git
cd tio-tools
git submodule update --init
make
sudo make install
A sockets interface to the sensors is provided. Please review examples and the code to understand its use.