Aded SBHS block

16 files changed, 1035 insertions, 0 deletions

diff --git a/gr-sbhs/CMakeLists.txt b/gr-sbhs/CMakeLists.txt
new file mode 100644
index 000000000..597a2e44a
--- /dev/null
+++ b/gr-sbhs/CMakeLists.txt
@@ -0,0 +1,55 @@
+# Copyright 2012 Free Software Foundation, Inc.
+#
+# This file is part of GNU Radio
+#
+# GNU Radio is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3, or (at your option)
+# any later version.
+#
+# GNU Radio is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with GNU Radio; see the file COPYING.  If not, write to
+# the Free Software Foundation, Inc., 51 Franklin Street,
+# Boston, MA 02110-1301, USA.
+
+########################################################################
+# Setup dependencies
+########################################################################
+#include(GrBoost)
+
+#find_package(CONTROLSW3f)
+
+########################################################################
+# Register component
+########################################################################
+include(GrComponent)
+
+GR_REGISTER_COMPONENT("gr-sbhs" ENABLE_GR_SBHS
+    ENABLE_GRUEL
+    ENABLE_VOLK
+    Boost_FOUND
+    ENABLE_GR_CORE
+)
+
+########################################################################
+# Begin conditional configuration
+########################################################################
+if(ENABLE_GR_SBHS)
+
+########################################################################
+# Add subdirectories
+########################################################################
+if(ENABLE_PYTHON)
+    add_subdirectory(python)
+    add_subdirectory(grc)
+endif(ENABLE_PYTHON)
+#add_subdirectory(examples)
+add_subdirectory(doc)
+
+
+endif(ENABLE_GR_SBHS)
diff --git a/gr-sbhs/doc/CMakeLists.txt b/gr-sbhs/doc/CMakeLists.txt
new file mode 100644
index 000000000..42f073150
--- /dev/null
+++ b/gr-sbhs/doc/CMakeLists.txt
@@ -0,0 +1,23 @@
+# Copyright 2012 Free Software Foundation, Inc.
+#
+# This file is part of GNU Radio
+#
+# GNU Radio is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3, or (at your option)
+# any later version.
+#
+# GNU Radio is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with GNU Radio; see the file COPYING.  If not, write to
+# the Free Software Foundation, Inc., 51 Franklin Street,
+# Boston, MA 02110-1301, USA.
+
+install(
+    FILES README.sbhs
+    DESTINATION ${GR_PKG_DOC_DIR}
+)
diff --git a/gr-sbhs/doc/README.sbhs b/gr-sbhs/doc/README.sbhs
new file mode 100644
index 000000000..61e8f6bf8
--- /dev/null
+++ b/gr-sbhs/doc/README.sbhs
@@ -0,0 +1,13 @@
+This is the gr-scigen package. It contains signal processing blocks to
+perform FFTs and FFT-related functionality.
+
+The Python namespace is in gnuradio.scigen, which would be normally
+imported as:
+
+    from gnuradio import scigen
+
+See the Doxygen documentation for details about the blocks available
+in this package. A quick listing of the details can be found in Python
+after importing by using:
+
+    help(scigen)
diff --git a/gr-sbhs/doc/sbhs.dox b/gr-sbhs/doc/sbhs.dox
new file mode 100644
index 000000000..9c65949d6
--- /dev/null
+++ b/gr-sbhs/doc/sbhs.dox
@@ -0,0 +1,29 @@
+/*! \page page_fft FFT Signal Processing Blocks
+
+\section Introduction
+
+This is the gr-sbhs package. It contains signal processing blocks to
+perform FFTs and FFT-related functionality.
+
+The Python namespace is in gnuradio.fft, which would be normally
+imported as:
+
+\code
+    from gnuradio import sbhs
+\endcode
+
+See the Doxygen documentation for details about the blocks available
+in this package. A quick listing of the details can be found in Python
+after importing by using:
+
+\code
+    help(sbhs)
+\endcode
+
+\section Dependencies
+
+The sbhs blocks require the following dependencies.
+
+\li fftw3f      (>= 3.0)     http://www.fftw.org/download.html
+
+*/
diff --git a/gr-sbhs/grc/CMakeLists.txt b/gr-sbhs/grc/CMakeLists.txt
new file mode 100644
index 000000000..f53930884
--- /dev/null
+++ b/gr-sbhs/grc/CMakeLists.txt
@@ -0,0 +1,30 @@
+# Copyright 2012 Free Software Foundation, Inc.
+#
+# This file is part of GNU Radio
+#
+# GNU Radio is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3, or (at your option)
+# any later version.
+#
+# GNU Radio is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with GNU Radio; see the file COPYING.  If not, write to
+# the Free Software Foundation, Inc., 51 Franklin Street,
+# Boston, MA 02110-1301, USA.
+
+install(FILES
+    sbhs_plant.xml
+    DESTINATION ${GRC_BLOCKS_DIR}
+    COMPONENT "sbhs_python"
+)
+
+install(FILES
+    sbhs_controller.xml
+    DESTINATION ${GRC_BLOCKS_DIR}
+    COMPONENT "sbhs_python"
+)
diff --git a/gr-sbhs/grc/sbhs_controller.xml b/gr-sbhs/grc/sbhs_controller.xml
new file mode 100644
index 000000000..a8729e9a0
--- /dev/null
+++ b/gr-sbhs/grc/sbhs_controller.xml
@@ -0,0 +1,108 @@
+<?xml version="1.0"?>
+<!--
+###################################################
+##Add Block:
+##    all types, 1 output, 2 to inf inputs
+###################################################
+ -->
+<block>
+    <name>sbhs_controller</name>
+    <key>sbhs_controller</key>
+    <category>controller</category>
+
+    <import>import gr_controller</import>
+    <make>gr_controller.sbhs_controller()
+self.$(id).set_parameters($P, $I, $d, $a, $b, $window)
+    </make>
+    <param>
+        <name>IO Type</name>
+        <key>type</key>
+        <type>enum</type>
+        <option><name>F32_F32</name><key>f32_f32</key></option>
+        <option><name>S32_S32</name><key>s32_s32</key></option>
+        <option><name>S16_S16</name><key>s16_s16</key></option>
+        <option><name>S8_S8</name><key>s8_s8</key></option>
+    </param>
+
+    <param>
+        <name>Num Inputs</name>
+        <key>num_inputs</key>
+        <value>1</value>
+        <type>int</type>
+    </param>
+     
+    <param>
+        <name>Vec Length</name>
+        <key>vlen</key>
+        <value>1</value>
+        <type>int</type>
+    </param>
+ 
+    <param>
+	<name>Delta T</name>
+	<key>a</key>
+	<value>1</value>
+	<type>real</type>
+    </param>
+
+    <param>
+        <name>P Value</name>
+        <key>P</key>
+        <value>1</value>
+        <type>real</type>
+    </param>
+  
+   <param>
+        <name>I Value</name>
+        <key>I</key>
+        <value>1</value>
+        <type>real</type>
+    </param>
+ 
+     <param>
+        <name>D Value</name>
+        <key>d</key>
+        <value>1</value>
+        <type>real</type>
+    </param>
+ 
+    <param>
+        <name>Set Point</name>
+        <key>b</key>
+        <value>1</value>
+        <type>real</type>
+    </param>
+
+  
+   <param>
+    	<name>Window</name>
+	<key>window</key>
+	<value>1</value>
+	<type>int</type>
+    </param>
+
+
+
+    <!--
+    Check if number of inputs are greater than 0, and if vector length
+    is greater than 0.
+    -->
+    <check>$num_inputs &gt; 0</check>
+    <check>$vlen &gt; 0</check>
+    <sink>
+        <name>in</name>
+        <type>$(str($type).split('_')[0])</type>
+        <vlen>$vlen</vlen>
+        <nports>$num_inputs</nports>
+    </sink>
+    <source>
+        <name>out</name>
+        <type>$(str($type).split('_')[1])</type>
+        <vlen>$vlen</vlen>
+    </source>
+    <doc>
+
+SBHS Controller Block
+> SBHS Controller Block to implement P I D Algorithms
+   </doc>
+</block>
diff --git a/gr-sbhs/grc/sbhs_plant.xml b/gr-sbhs/grc/sbhs_plant.xml
new file mode 100644
index 000000000..f6e9c34c1
--- /dev/null
+++ b/gr-sbhs/grc/sbhs_plant.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<!--
+###################################################
+##Add Block:
+##    all types, 1 output, 2 to inf inputs
+###################################################
+ -->
+<block>
+    <name>sbhs</name>
+    <key>gr_sbhs</key>
+    <category>sbhs</category>
+
+    <import>import gr_sbhs</import>
+    <make>gr_sbhs.gr_sbhs()
+self.$(id).set_parameters($window)
+    </make>
+    <param>
+        <name>IO Type</name>
+        <key>type</key>
+        <type>enum</type>
+        <option><name>F32_F32</name><key>f32_f32</key></option>
+        <option><name>S32_S32</name><key>s32_s32</key></option>
+        <option><name>S16_S16</name><key>s16_s16</key></option>
+        <option><name>S8_S8</name><key>s8_s8</key></option>
+    </param>
+    <param>
+        <name>Num Inputs</name>
+        <key>num_inputs</key>
+        <value>2</value>
+        <type>int</type>
+    </param>
+    
+    <param>
+        <name>Vec Length</name>
+        <key>vlen</key>
+        <value>1</value>
+        <type>int</type>
+    </param>
+
+    <param>
+    	<name>Window</name>
+	<key>window</key>
+	<value>1</value>
+	<type>int</type>
+    </param>
+
+    <!--
+    Check if number of inputs are greater than 0, and if vector length
+    is greater than 0.
+    -->
+    <check>$num_inputs &gt; 0</check>
+    <check>$vlen &gt; 0</check>
+    <sink>
+        <name>in</name>
+        <type>$(str($type).split('_')[0])</type>
+        <vlen>$vlen</vlen>
+        <nports>$num_inputs</nports>
+    </sink>
+    <source>
+        <name>out</name>
+        <type>$(str($type).split('_')[1])</type>
+        <vlen>$vlen</vlen>
+    </source>
+    <doc>
+
+SBHS Serial block
+
+> Check if your scilab function requires multiple inputs
+> Make sure you have same n_input_items when you have multiple inputs
+   </doc>
+</block>
diff --git a/gr-sbhs/python/CMakeLists.txt b/gr-sbhs/python/CMakeLists.txt
new file mode 100644
index 000000000..4c03fb698
--- /dev/null
+++ b/gr-sbhs/python/CMakeLists.txt
@@ -0,0 +1,94 @@
+# Copyright 2012 Free Software Foundation, Inc.
+#
+# This file is part of GNU Radio
+#
+# GNU Radio is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3, or (at your option)
+# any later version.
+#
+# GNU Radio is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with GNU Radio; see the file COPYING.  If not, write to
+# the Free Software Foundation, Inc., 51 Franklin Street,
+# Boston, MA 02110-1301, USA.
+
+########################################################################
+include(GrPython)
+
+GR_PYTHON_INSTALL(
+    FILES
+    __init__.py
+    DESTINATION ${GR_PYTHON_DIR}/gnuradio/sbhs
+    COMPONENT "sbhs_python"
+)
+
+### SBHS BLOCKS ###
+GR_PYTHON_INSTALL(
+    FILES
+    sbhs.py
+    DESTINATION ${GR_PYTHON_DIR}/gnuradio/sbhs
+    COMPONENT "sbhs_python"
+)
+
+
+GR_PYTHON_INSTALL(
+    FILES
+    scan_machines.py
+    DESTINATION ${GR_PYTHON_DIR}/gnuradio/sbhs
+    COMPONENT "sbhs_python"
+)
+
+GR_PYTHON_INSTALL(
+    FILES
+    gr_sbhs.py
+    DESTINATION ${GR_PYTHON_DIR}/gnuradio/sbhs
+    COMPONENT "sbhs_python"
+)
+
+### SBHS CONTROLLER BLOCKS ###
+GR_PYTHON_INSTALL(
+    FILES
+    que.py
+    DESTINATION ${GR_PYTHON_DIR}/gnuradio/sbhs
+    COMPONENT "sbhs_python"
+)
+
+GR_PYTHON_INSTALL(
+    FILES
+    gr_controller.py
+    DESTINATION ${GR_PYTHON_DIR}/gnuradio/sbhs
+    COMPONENT "sbhs_python"
+)
+
+GR_PYTHON_INSTALL(
+    FILES
+    dsim_sci.py
+    DESTINATION ${GR_PYTHON_DIR}/gnuradio/sbhs
+    COMPONENT "sbhs_python"
+)
+
+
+
+
+########################################################################
+# Handle the unit tests
+########################################################################
+if(ENABLE_TESTING)
+
+list(APPEND GR_TEST_PYTHON_DIRS
+    ${CMAKE_BINARY_DIR}/gr-sbhs/python
+)
+list(APPEND GR_TEST_TARGET_DEPS gnuradio-sbhs)
+
+include(GrTest)
+file(GLOB py_qa_test_files "qa_*.py")
+foreach(py_qa_test_file ${py_qa_test_files})
+    get_filename_component(py_qa_test_name ${py_qa_test_file} NAME_WE)
+    GR_ADD_TEST(${py_qa_test_name} ${PYTHON_EXECUTABLE} ${PYTHON_DASH_B} ${py_qa_test_file})
+endforeach(py_qa_test_file)
+endif(ENABLE_TESTING)
diff --git a/gr-sbhs/python/__init__.py b/gr-sbhs/python/__init__.py
new file mode 100644
index 000000000..7b719281c
--- /dev/null
+++ b/gr-sbhs/python/__init__.py
@@ -0,0 +1,54 @@
+#
+# Copyright 2008,2009 Free Software Foundation, Inc.
+#
+# This application is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3, or (at your option)
+# any later version.
+#
+# This application is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program; if not, write to the Free Software Foundation, Inc.,
+# 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+#
+
+# The presence of this file turns this directory into a Python package
+
+'''
+This is the GNU Radio SCIMOD module. Place your Python package
+description here (python/__init__.py).
+'''
+
+# ----------------------------------------------------------------
+# Temporary workaround for ticket:181 (swig+python problem)
+import sys
+_RTLD_GLOBAL = 0
+try:
+    from dl import RTLD_GLOBAL as _RTLD_GLOBAL
+except ImportError:
+    try:
+	from DLFCN import RTLD_GLOBAL as _RTLD_GLOBAL
+    except ImportError:
+	pass
+
+if _RTLD_GLOBAL != 0:
+    _dlopenflags = sys.getdlopenflags()
+    sys.setdlopenflags(_dlopenflags|_RTLD_GLOBAL)
+# ----------------------------------------------------------------
+
+# import any pure python here
+# Dummy File for future use
+
+from scan_machines import *
+print "Scanning Machines"
+scan_machines()
+
+# ----------------------------------------------------------------
+# Tail of workaround
+if _RTLD_GLOBAL != 0:
+    sys.setdlopenflags(_dlopenflags)      # Restore original flags
+# ----------------------------------------------------------------
diff --git a/gr-sbhs/python/gr_controller.py b/gr-sbhs/python/gr_controller.py
new file mode 100644
index 000000000..a661e0b74
--- /dev/null
+++ b/gr-sbhs/python/gr_controller.py
@@ -0,0 +1,70 @@
+import gras
+import numpy
+from que import *
+
+class sbhs_controller(gras.Block):
+
+	def __init__(self):
+		gras.Block.__init__(self,
+			name="sbhs_controller",
+			in_sig=[numpy.float32],
+			out_sig=[numpy.float32])	
+		
+		# Initializing  FIFO Queues
+		# Remember Total_Number(Q_Push) should be equal to Total_Number(Q_Pull)
+
+		self.q1 = Queue(3) # Queue for Error t_0 .. t_2
+		self.q2 = Queue(2) # Queue for output o_0 o_1
+		
+		# Initial queue values
+		self.t_1 = 0
+		self.o_0 = 0
+
+	def set_parameters(self,p,i,d,a,b,f):
+		self.proportional = p 
+		self.integtime = i
+		self.derivtime = d
+		self.delt = a #del_t
+		self.setpt = b #set_point
+		self.n = f #window
+	
+	def work(self, input_items, output_items):
+		
+		in0 = input_items[0][0]
+		out = output_items[0]
+		
+		# Queue structure
+		#  --> |0|0|0| =>  |in0|t_1|0|
+		self.q1.push(self.t_1)
+		self.q1.push(in0) 
+		
+		# Queue Structure
+		# --> |0|0|  => |self.o_0|0|
+		self.q2.push(self.o_0)
+
+		# Popping
+		self.t_0 = in0
+		self.t_1 = self.q1.pop()
+		self.t_2 = self.q1.pop()
+		
+		self.o_1 = self.q2.pop()
+		
+		# Error propogation 
+		print "E(t=t)", self.t_0
+		print "E(t=t-1)", self.t_1
+		print "E(t=t-2)", self.t_2
+		print "-------------------"
+		
+		# Difference Equation
+		self.o_0 = ((self.proportional * (in0 - self.t_1)
+                	+(self.delt/self.integtime)*in0
+			+(self.derivtime/self.delt)*(in0 - 2*self.t_1
+			+self.t_2 )) + self.o_1 ) * 0.92
+		
+		out[:1] = self.o_0
+			
+		#print output_items[0]
+		self.consume(0,1) # Consume from port 0 input_items
+		self.consume(1,1)
+	
+		self.produce(0,1) # Produce from port 0 output_items
diff --git a/gr-sbhs/python/gr_sbhs.py b/gr-sbhs/python/gr_sbhs.py
new file mode 100644
index 000000000..3441c1f7f
--- /dev/null
+++ b/gr-sbhs/python/gr_sbhs.py
@@ -0,0 +1,65 @@
+import gras
+import numpy
+import serial
+import time
+from sbhs import *
+from scan_machines import *
+
+class gr_sbhs(gras.Block):
+
+	def __init__(self):
+		gras.Block.__init__(self,
+			name="gr_sbhs",
+			in_sig=[numpy.float32, numpy.float32],
+			out_sig=[numpy.float32])	
+		
+		# SBHS init
+		self.new_device = Sbhs()
+		self.new_device.connect(1)
+		self.new_device.connect_device(0)
+
+
+	def set_parameters(self,window):
+		self.n = window
+	
+	# Check if value of window is integral of length of input source vector 
+	# For cases like -> input = [3 , 4, 5 ,6] & window = 3
+	def isIntegralWin(self, input_item, window):
+		if (len(input_item) % window ):
+			raise Exception("Value of Window should be an integral value of length of input items")
+			
+		
+	def work(self, input_items, output_items):
+		
+	#	if len(input_items[0]) != len(input_items[1]):
+	#		raise Exception("Heat value vector and Fan Speed Value vector should be of equal length")
+
+		# Assuming input_items[0] and input_items[1] have same LENGTH
+		for heat_items, fan_items in zip(input_items[0], input_items[1]):
+			
+			print "HEAT WRITTEN", heat_items
+			
+			# Set heat as 0 for negative values of heat
+			if heat_items < 0:
+				self.new_device.setHeat(0)
+			else:
+				self.new_device.setHeat(heat_items)
+
+			time.sleep(0.5)
+			self.new_device.setFan(fan_items)
+			time.sleep(0.5)
+		
+		# For Zero Temperatures
+		if not self.new_device.getTemp():
+			raise Exception("Check SBHS connection, try re-plugging it and run scan_machines.py")
+
+		# Get temperature
+		output_items[0][:1] =  self.new_device.getTemp()
+
+		print "Temperature",output_items[0][:1]
+
+		#Write a for loop for n_inputs
+		for i in range(len(input_items)):
+			self.consume(i,1) # Consume from port 0 input_items
+
+		self.produce(0,self.n) # Produce from port 0 output_items
diff --git a/gr-sbhs/python/qa_dsim.py b/gr-sbhs/python/qa_dsim.py
new file mode 100755
index 000000000..3d1db0f60
--- /dev/null
+++ b/gr-sbhs/python/qa_dsim.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python
+# 
+# Copyright 2013 <+YOU OR YOUR COMPANY+>.
+# 
+# This is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3, or (at your option)
+# any later version.
+# 
+# This software is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+# 
+# You should have received a copy of the GNU General Public License
+# along with this software; see the file COPYING.  If not, write to
+# the Free Software Foundation, Inc., 51 Franklin Street,
+# Boston, MA 02110-1301, USA.
+# 
+
+from gnuradio import gr, gr_unittest
+#import mymod_swig as mymod
+from dsim import dsim
+
+
+class qa_dsim (gr_unittest.TestCase):
+
+    def setUp (self):
+        self.tb = gr.top_block ()
+
+    def tearDown (self):
+        self.tb = None
+
+    def test_001_t (self):
+    	
+    	src_data = [0]*10
+	src_data1 = [1]*20
+	src_data = src_data+src_data1
+ 	
+	#expected_result = (-2.0, 0.0, 5.0, 8.0, 9.0, 11.0, 14.0, 18.0)
+	
+	src0 = gr.vector_source_f(src_data)
+	sqr = dsim()
+	sqr.set_parameters(2,0.5,1,.1,10,1)
+
+	#Preload
+	sqr.input_config(1).preload_items = 1
+	dst = gr.vector_sink_f()
+	
+	self.tb.connect(src0, (sqr,0)) # src0(vector_source) -> sqr_input_0
+	self.tb.connect((sqr,0), (sqr,1)) # sqr_output_0 -> sqr_input_1
+	self.tb.connect(sqr,dst) # sqr_output_0 -> dst (vector_source)
+
+	self.tb.run()
+
+	result_data = dst.data()
+	
+	
+	import  matplotlib.pyplot as plt
+    	plt.plot(result_data)
+	#print "result", result_data
+    	plt.show()
+   	#self.assertFloatTuplesAlmostEqual(expected_result, result_data, 6)
+	
+
+if __name__ == '__main__':
+    gr_unittest.main()
+   #gr_unittest.run(qa_dsim, "qa_dsim.xml")
diff --git a/gr-sbhs/python/que.py b/gr-sbhs/python/que.py
new file mode 100644
index 000000000..f5031a131
--- /dev/null
+++ b/gr-sbhs/python/que.py
@@ -0,0 +1,35 @@
+# Data Acquisition list based queue
+
+class Queue: 
+    """A sample implementation of a First-In-First-Out
+       data structure."""
+    def __init__(self, length):
+    	
+	# Initializes with empty zeros
+        self.queue = [0] * length
+	self.length = length
+
+    def push(self,obj):
+	if len(self.queue) < self.length:
+		self.queue.append(obj)
+	else:
+		print "Queue full"
+		### To discard first in queue and append obj anyway ###
+		#self.queue.pop(0)
+		#self.queue.append(obj)
+    def pop(self):
+    	try:
+		return (self.queue.pop(0))
+	except:
+		print "queue empty"
+
+    def size(self):
+   	return len(self.queue)
+
+    def discard(self):
+   	self.queue=[]
+    
+    def flush(self):
+    	self.return_queue = self.queue
+	self.queue = []
+	return(self.return_queue)
diff --git a/gr-sbhs/python/sbhs.py b/gr-sbhs/python/sbhs.py
new file mode 100755
index 000000000..b1ff44933
--- /dev/null
+++ b/gr-sbhs/python/sbhs.py
@@ -0,0 +1,201 @@
+import serial
+import os
+from time import localtime, strftime, sleep
+
+MAP_FILE = './map_machine_ids.txt'
+#MAP_FILE = '/var/sbhspyserver/sbhshw/map_machine_ids.txt'
+LOG_FILE = '/var/sbhspylog/sbhserr.log'
+
+OUTGOING_MACHINE_ID  = 252
+INCOMING_FAN  = 253
+INCOMING_HEAT = 254
+OUTGOING_TEMP = 255
+
+MAX_HEAT = 100
+MAX_FAN = 100
+
+class Sbhs:
+    """ This is the Single Board Heater System class """
+
+    def __init__(self):
+        # status of the board
+        # 0 = not connected
+        # 1 = connected
+        self.machine_id = -1
+        self.device_num = -1
+        self.boardcon = False
+        self.status = 0
+
+    def connect(self, machine_id):
+        """ Open a serial connection via USB to the SBHS using the machine id """
+        # check for valid machine id number
+        try:
+            self.machine_id = int(machine_id)
+        except:
+            print 'Invalid machine id specified'
+            return False
+
+        # get the usb device file from the machine map file
+        try:
+            map_file = open(MAP_FILE, 'r')
+            usb_device_file = False
+            for mapping_str in map_file.readlines():
+                mapping = mapping_str.split('=')
+                # if mapping for the machine id found set the usb device file and break out of loop
+                if mapping[0] == str(self.machine_id):
+                    usb_device_file = mapping[1].strip()
+                    break
+            # reached end of file and check if machine id entry is present in the machine map file
+            map_file.close()
+            if not usb_device_file:
+                print 'Error: cannot locate the USB device in the map table for machine id %d' % self.machine_id
+                self.log('cannot locate the USB device in the map table for machine id %d' % self.machine_id, 'ERROR')
+                return False
+        except:
+            map_file.close()
+            print 'Error: cannot get the USB device path for the machine id %d' % self.machine_id
+            self.log('cannot get the USB device path for the machine id %d' % self.machine_id, 'ERROR')
+            return False
+
+        # check if SBHS device is connected
+        if not os.path.exists(usb_device_file):
+            print 'SBHS device file ' + usb_device_file + ' does not exists'
+            self.log('SBHS device file ' + usb_device_file + ' does not exists', 'ERROR')
+            return False
+        try:
+            self.boardcon = serial.Serial(port=usb_device_file, baudrate=9600, bytesize=8, parity='N', stopbits=1, timeout=2)
+            self.status = 1
+            return True
+        except:
+            print 'Error: cannot connect to machine id %d' % self.machine_id
+            self.log('cannot connect to machine id %d' % self.machine_id, 'ERROR')
+            self.machine_id = -1
+            self.device_num = -1
+            self.boardcon = False
+            self.status = 0
+        return False
+
+    def connect_device(self, device_num):
+        """ Open a serial connection via USB to the SBHS using USB Device Number"""
+        # check for valid device number
+        try:
+            self.device_num = int(device_num)
+        except:
+            print 'Invalid device number specified'
+            return False
+
+        usb_device_file = '/dev/ttyUSB%d' % self.device_num
+        # check if SBHS device is connected
+        if not os.path.exists(usb_device_file):
+            print 'SBHS device file ' + usb_device_file + ' does not exists'
+            self.log('SBHS device file ' + usb_device_file + ' does not exists', 'ERROR')
+            return False
+        try:
+            self.boardcon = serial.Serial(port=usb_device_file, baudrate=9600, bytesize=8, parity='N', stopbits=1, timeout=2)
+            self.machine_id = self.getMachineId()
+            return True
+        except:
+            print 'Error: cannot connect to device %s' % usb_device_file
+            self.log('cannot connect to device %s' % usb_device_file, 'ERROR')
+        return False
+
+    def setHeat(self, val):
+        """ Set the heat """
+        if val > MAX_HEAT or val < 0:
+            print 'Error: heat value cannot be more than %d' % MAX_HEAT
+            return False
+
+        try:
+            self._write(chr(INCOMING_HEAT))
+            self._write(chr(val))
+            return True
+        except:
+            print 'Error: cannot set heat for machine id %d' % self.machine_id
+            self.log('cannot set heat for machine id %d' % self.machine_id, 'ERROR')
+            return False
+
+    def setFan(self, val):
+        """ Set the fan """
+        if val > MAX_FAN or val < 0:
+            print 'Error: fan value cannot be more than %d' % MAX_FAN
+            return False
+        try:
+            self._write(chr(INCOMING_FAN))
+            self._write(chr(val))
+            return True
+        except:
+            print 'Error: cannot set fan for machine id %d' % self.machine_id
+            self.log('cannot set fan for machine id %d' % self.machine_id, 'ERROR')
+            return False
+
+    def getTemp(self):
+        """ Get the temperature """
+        try:
+            self.boardcon.flushInput()
+            self._write(chr(OUTGOING_TEMP))
+            temp = ord(self._read(1)) + (0.1 * ord(self._read(1)))
+            return temp
+        except:
+            print 'Error: cannot read temperature from machine id %d' % self.machine_id
+            self.log('cannot read temperature from machine id %d' % self.machine_id, 'ERROR')
+        return  0.0
+
+    def getMachineId(self):
+        """ Get machine id from the device """
+        try:
+            self.boardcon.flushInput()
+            self._write(chr(OUTGOING_MACHINE_ID))
+            sleep(0.5) # sleep before reading machine id
+            machine_id = ord(self._read(1))
+            return machine_id
+        except:
+            print 'Error: cannot read machine id from %s' % self.boardcon.port
+            self.log('cannot read machine id from %s' % self.boardcon.port, 'ERROR')
+        return -1
+
+    def disconnect(self):
+        """ Reset the board fan and heat values and close the USB connection """
+        try:
+            self.boardcon.close()
+            self.boardcon = False
+            self.status = 0
+            return True
+        except:
+            print 'Error: cannot close connection to the machine'
+            self.log('cannot close connection to the machine', 'ERROR')
+            return False
+
+    def reset_board(self):
+        self.setFan(100)
+        self.setHeat(0)
+
+    def _read(self, size):
+        try:
+            data = self.boardcon.read(size)
+            return data
+        except:
+            print 'Error: cannot read from machine id %d' % self.machine_id
+            self.log('cannot read from machine id %d' % self.machine_id, 'ERROR')
+            raise Exception
+
+    def _write(self, data):
+        try:
+            self.boardcon.write(data)
+            return True
+        except:
+            print 'Error: cannot write to machine id %d' % self.machine_id
+            self.log('cannot write to machine id %d' % self.machine_id, 'ERROR')
+            raise Exception
+
+    def log(self, msg, level):
+        try:
+            errfile = open(LOG_FILE, 'a') # open error log file in append mode
+            if not errfile:
+                return
+            log_msg = '%s %s %s\n' %(level, strftime('%d:%m:%Y %H:%M:%S', localtime()), msg)
+            errfile.write(log_msg)
+            errfile.close()
+            return
+        except:
+            return
+
diff --git a/gr-sbhs/python/scan_machines.py b/gr-sbhs/python/scan_machines.py
new file mode 100755
index 000000000..db194e28b
--- /dev/null
+++ b/gr-sbhs/python/scan_machines.py
@@ -0,0 +1,59 @@
+#!/usr/bin/python
+import sbhs
+import os
+import sys
+
+def scan_machines():
+	# erase the old map_machine_ids.txt file
+	try:
+	    file('map_machine_ids.txt', 'w').close()
+	except:
+	    print 'Failed to create machine map file file'
+	    sys.exit(1)
+
+	# open the map_machine_ids file for writing
+	try:
+	    map_machine_file = file('map_machine_ids.txt', 'w')
+	except:
+	    print 'Failed to create machine map file file'
+	    sys.exit(1)
+
+	# get list of device file names that start with ttyUSB* in the /dev folder
+	device_files = []
+	device_files += [each for each in os.listdir('/dev') if each.startswith('ttyUSB')]
+
+	# if no device filename found then exit
+	if not device_files:
+	    print 'No USB device found in /dev folder'
+	    sys.exit(1)
+
+	for device in device_files:
+	    s = sbhs.Sbhs()
+	    # getting the number from the device filename
+	    dev_id = device[6:]
+	    try:
+		dev_id = int(dev_id)
+	    except:
+		print 'Invalid device name /dev/%s' % device
+		continue
+	    # connect to device
+	    res = s.connect_device(dev_id)
+	    if not res:
+		print 'Cannot connect to /dev/%s' % device
+		s.disconnect()
+		continue
+	    # get the machine id from the device
+	    machine_id = s.getMachineId()
+	    if machine_id < 0:
+		print 'Cannot get machine id from /dev/%s' % device
+		s.disconnect()
+		continue
+	    print 'Found SBHS device /dev/%s with machine id %d' % (device, machine_id)
+	    map_str = "%d=/dev/%s\n" % (machine_id, device)
+	    map_machine_file.write(map_str)
+
+	#if __name__ == 'main':
+		#print 'Done. Exiting...'
+	    map_machine_file.close()
+	#sys.exit(1)
+
diff --git a/gr-sbhs/python/testing.py b/gr-sbhs/python/testing.py
new file mode 100755
index 000000000..a71655b40
--- /dev/null
+++ b/gr-sbhs/python/testing.py
@@ -0,0 +1,60 @@
+#!/usr/bin/python -tt
+
+import serial
+import time
+from time import sleep
+
+ser = serial.Serial('/dev/ttyUSB0', baudrate=9600, timeout=1)
+ser.open()
+
+
+from time import sleep
+
+import urllib
+import urllib2
+from sbhs import *
+#from bottle import *
+from scan_machines import *
+
+
+new_device = Sbhs()
+new_device.connect(252)
+new_device.connect_device(0)
+
+
+for i in range(10):
+	#new_device.setHeat(10)
+	#new_device.setFan(30)
+	f=new_device.getTemp()
+	print f
+	time.sleep(3)
+ser.close()
+#f = 10
+
+#@route('/temp')
+#def hello():
+#    return str(f)
+#run(host='localhost', port=8080, debug=True)
+'''
+#writing to google app-engine
+	data = {}
+	data['temp'] = '30'#float value not int
+	data['heat'] = '200'
+	data['fan'] = '100'
+	url_val = urllib.urlencode(data)
+	print url_val
+	
+	url = 'http://remote-cloudlabs.appspot.com/hello'
+	full_url = url + '?' + url_val
+	data = urllib2.urlopen(full_url)
+
+#reading from url
+	req = urllib2.Request('http://remote-cloudlabs.appspot.com/display')
+	response = urllib2.urlopen(req)
+	data = response.read()
+	print data
+
+	
+	time.sleep(10)
+
+'''