PyCubed Agent | COSMOS Docs

Quick Details

Property	Value
Program Name	`agent_pycubed`
Agent Name	`pycubed`
File	agent_pycubed.cpp
Hardware	PyCubed Mainboard

Description

The PyCubed agent (AKA agent_pycubed) is an agent that handles all communication between the BeagleBone and PyCubed, making use of the PyCubed class

Communication Protocol

For details visit PyCubed Communication Protocol.

Requests

Check Connection

Usage: is_up

Description: Checks if the PyCubed can be reached.

If the PyCubed is connected properly, the request will return "UP". Otherwise, the request will return "DOWN".

Send Message

Usage: send_message
Aliases: send

Description: Sends a message to the PyCubed.

The argument message_str is a message formatted to the PyCubed communication protocol requirements. The leading $ and checksum should not be included.

Get IMU Data

Usage: imu

Description: Retrieves the PyCubed IMU data.

Returns a JSON-formatted string.

Get GPS Data

Usage: gps

Description: Retrieves the PyCubed GPS data.

Returns a JSON-formatted string.

Get Power Data

Usage: power

Description: Retrieves the PyCubed power data.

Returns a JSON-formatted string.

Get Temperature Data

Usage: temperature
Aliases: temp

Description: Retrieves the PyCubed temperature data.

Returns a JSON-formatted string.

Kill Radio

Usage: killradio yes

Description: Kills future radio transmission.

The argument yes is required, and is meant to prevent accidental usage of the request.

Note: You should not call this request unless the radio is transmitting harmful noise, or if you are performing tests.

COSMOS Names

Devices

Device	Property	Storage Type	COSMOS Name
CPU	UTC	`double` or `Time`	`device_cpu_utc_000`
	Temperature (K)	`float`	`device_cpu_temp_000`
	Voltage (V)	`float`	`device_cpu_volt_000`
	Current (A)	`float`	`device_cpu_amp_000`
	Memory Used (GiB)	`float`	`device_cpu_gib_000`
	Maximum Memory (GiB)	`float`	`device_cpu_maxgib_000`
	Up Time (s)	`int`	`device_cpu_uptime_000`
Battery	UTC	`double` or `Time`	`device_batt_utc_000`
	Temperature (K)	`float`	`device_batt_temp_000`
	Voltage (V)	`float`	`device_batt_volt_000`
	Current (A)	`float`	`device_batt_amp_000`
	Capacity (Ah)	`float`	`device_batt_cap_000`
	Charge (Ah)	`float`	`device_batt_charge_000`
	Percentage (%)	`float`	`device_batt_percentage_000`
IMU	UTC	`double` or `Time`	`device_imu_utc_000`
	Temperature (K)	`float`	`device_imu_temp_000`
	Acceleration (m/s²)	`Vec3`	`device_imu_accel_000`
	Angular Velocity (°/s)	`Vec3`	`device_imu_omega_000`
	Magnetic Field (G)	`Vec3`	`device_imu_mag_000`
GPS	UTC	`double` or `Time`	`device_gps_utc_000`
	Location	`Location`	`device_gps_geods_000`
	Velocity (m/s)	`Vec3`	`device_gps_geocv_000`
	Satellites Used	`int`	`device_gps_sats_used_000`

Block Diagram

Below is a software diagram demonstrating the behavior of this agent Agent block diagram

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