def testMovPosA2P():
print("Test1: ")
c_msg = (0x80, 0x1+1, 0x4, 0x2)
parser = MessageParser()
for msgByte in c_msg:
parser.parseMsg(msgByte)
msgContent = parser.getRetVal()[2]
data = MovPosA2P()
data.decode(msgContent)
data_encode = data.encode()
print(c_msg)
print(data_encode)
print("movMode: " + str(data.movMode))
print("\n")
print("Test2: ")
c_msg2 = (0x80, 0x1+1, 0x4, 0x3)
parser = MessageParser()
for msgByte in c_msg2:
parser.parseMsg(msgByte)
msgContent = parser.getRetVal()[2]
data = MovPosA2P()
try:
data.decode(msgContent)
except CorruptData as details:
print(details)
print("===================================================")
print("Testing MovPosA2P----------------------complete\n\n\n")
def testReusingCoroutine():
c_msg = (0x80, 0x4+1, 0x4, 0x0, 0x1, 0x2, 0x3)
parser = MessageParser()
for msgByte in c_msg:
parser.parseMsg(msgByte)
print(parser.getRetVal())
c_msg2 = (0x80, 0x4+1, 0x4, 0x0, 0x1, 0x2, 0x3)
parser = MessageParser()
for msgByte in c_msg:
parser.parseMsg(msgByte)
print(parser.getRetVal())
print("===================================================")
print("Testing reusingCoroutine----------------------complete\n\n\n")
def testCorrectMsgWithEscape():
c_msg = (0x80, 0x6+1, 0x0, 0x81, 0xA1, 0x81, 0xA0, 0x1, 0x2, 0x3, 0x4)
parser = MessageParser()
for msgByte in c_msg:
print( hex(parser.parseMsg(msgByte)[1]) )
print(parser.getRetVal())
print("===================================================")
print("Testing correctMsgWithEscape----------------------complete\n\n\n")
def testHomeRobotP2A():
c_msg = (0x80, 0x0+1, 0x3)
parser = MessageParser()
for msgByte in c_msg:
parser.parseMsg(msgByte)
print(parser.getRetVal())
msgContent = parser.getRetVal()[2]
data = HomeRobotP2A()
data.decode(msgContent)
data_encode = data.encode()
print("Test1: ")
print(c_msg)
print(data_encode)
print("===================================================")
print("Testing HomeRobotP2A----------------------complete\n\n\n")
def testMovPosP2A():
c_msg = (0x80, 0x4+1, 0x4, 0x11, 0x11, 0x22, 0x22)
parser = MessageParser()
for msgByte in c_msg:
parser.parseMsg(msgByte)
msgContent = parser.getRetVal()[2]
data = MovPosP2A()
data.decode(msgContent)
data_encode = data.encode()
print("Test1: ")
print(c_msg)
print(data_encode)
print("x_enc: " + str(data.x_enc))
print("y_enc: " + str(data.y_enc))
print("===================================================")
print("Testing MovPosP2A----------------------complete\n\n\n")
def testDepoInvA2P():
c_msg = (0x80, 0x3+1, 0x2, 0x1, 0x11, 0x11)
parser = MessageParser()
for msgByte in c_msg:
parser.parseMsg(msgByte)
msgContent = parser.getRetVal()[2]
data = DepoInvA2P()
data.decode(msgContent)
data_encode = data.encode()
print("Test1: ")
print(c_msg)
print(data_encode)
print("barcode: " + str(data.barcode))
print("y_enc: " + str(data.y_enc))
print("===================================================")
print("Testing DepoInvA2P----------------------complete\n\n\n")
def testRetInvA2P():
c_msg = (0x80, 0x2+1, 0x1, 0x1, 0x2)
parser = MessageParser()
for msgByte in c_msg:
parser.parseMsg(msgByte)
msgContent = parser.getRetVal()[2]
data = RetInvA2P()
data.decode(msgContent)
data_encode = data.encode()
print("Test1: ")
print(c_msg)
print(data_encode)
print("invInfoRowId: " + str(data.invInfoRowId) )
print("virtCartId: " + str(data.virtCartId))
print("===================================================")
print("Testing RetInvA2P----------------------complete\n\n\n")
def run(self):
print("ArduinoComm::Starting")
# wait for initialization
time.sleep(5)
while True:
## sending a message to Arduino
while self.msgQueue.empty():
time.sleep(1) # poll the queue every 1 second
# [ MessageFormat.retInv
# (True,
# [inventoryDetailsId, barcodeDetailsFk, X_index, Y_index, X_encoder, Y_encoder, checkoutFlag],
# newVirtualCartRowId)
# ]
# [ MessageFormat.depInv, barcode ]
msgQueue = self.msgQueue.get()
msgType = msgQueue[0]
txMsg = None
encodedMsg = None
if msgType == MessageFormat.retInv:
reservedInventoryLoc = msgQueue[1][1]
virtCartRowId = msgQueue[1][2]
txMsg = RetInvP2A()
txMsg.invInfoRowId = reservedInventoryLoc[0]
txMsg.virtCartId = virtCartRowId
txMsg.x_idx = reservedInventoryLoc[1]
txMsg.y_idx = reservedInventoryLoc[2]
txMsg.x_enc = reservedInventoryLoc[3]
txMsg.y_enc = reservedInventoryLoc[4]
txMsg.x_encAbove = reservedInventoryLoc[5]
txMsg.y_encAbove = reservedInventoryLoc[6]
self.msgInProcess = [MessageFormat.retInv, txMsg]
elif msgType == MessageFormat.depInv:
barcode = msgQueue[1]
robotService = ArduinoService()
[x_idx, y_idx, x_enc, y_enc] = robotService.getDepositLocation()
txMsg = DepoInvP2A()
txMsg.barcode = barcode
txMsg.x_enc = x_enc
txMsg.y_enc = y_enc
self.msgInProcess = [MessageFormat.depInv, (barcode, x_idx, y_idx, x_enc, y_enc)]
try:
encodedMsg = txMsg.encode()
except CorruptData as details:
print(details)
for byte in encodedMsg:
print("writing: " + str(hex(byte)))
self.__ser.write(bytes([byte]))
## receiving message from arduino
print("start receiving messages")
msgParser = MessageParser()
isCompleteMsg = False
while not isCompleteMsg:
msgByte = self.__ser.read(1) # blocking i/o with infinite timeout
parseResult = msgParser.parseMsg((int.from_bytes(msgByte, byteorder='big', signed=False)))
isCompleteMsg = parseResult[0]
print("parsing Msgs: " + str(hex(int.from_bytes(msgByte, byteorder='big', signed=False) ) ) )
parseResult = msgParser.getRetVal() # [True, msgType, msgContent]
msgType = parseResult[1]
msgContent = parseResult[2]
try:
robotService = ArduinoService()
if msgType == MessageFormat.retInv:
msg = RetInvA2P()
msg.decode(msgContent)
robotService.processRetrievedInventory(msg.invInfoRowId, msg.virtCartId)
elif msgType == MessageFormat.depInv:
msg = DepoInvA2P()
msg.decode(msgContent)
#(barcode, x_index, y_index, x_encoder, y_encoder):
txMsgContent = self.msgInProcess[1]
robotService.depositInventory(txMsgContent[0],
txMsgContent[1],
txMsgContent[2],
txMsgContent[3],
txMsgContent[4])
elif msgType == MessageFormat.homeRobot:
msg = HomeRobotA2P()
msg.decode(msgContent)
elif msgType == MessageFormat.movRobot:
msg = MovPosA2P()
msg.decode(msgContent)
except CorruptData as details:
print(details)
def testRetInvP2A():
print("Test1: ")
c_msg = (0x80, 0x0D, 0x01, 0x01, 0x02, 0x02, 0x05, 0x33, 0x33,
0x44, 0x44, 0x55, 0x55, 0x66, 0x66)
parser = MessageParser()
for msgByte in c_msg:
parser.parseMsg(msgByte)
msgContent = parser.getRetVal()[2]
data = RetInvP2A()
data.decode(msgContent)
data_encode = data.encode()
print(c_msg)
print(data_encode)
# TODO: output the msg content so we can see the data integrity
print("invInfoRowId: " + str(data.invInfoRowId) )
print("virtCartId: " + str(data.virtCartId) )
print("x_idx: " + str(data.x_idx) )
print("y_idx: " + str(data.y_idx) )
print("x_enc: " + str(data.x_enc) )
print("y_enc: " + str(data.y_enc) )
print("x_encAbove: " + str(data.x_encAbove) )
print("y_encAbove: " + str(data.y_encAbove) )
print("\n")
print("Test2: ")
c_msg2 = (0x80, 0x0D, 0x01, 0x01, 0x02, 0x03, 0x05, 0x33, 0x33,
0x44, 0x44, 0x55, 0x55, 0x66, 0x66)
parser = MessageParser()
for msgByte in c_msg2:
parser.parseMsg(msgByte)
msgContent2 = parser.getRetVal()[2]
try:
data.decode(msgContent2)
except CorruptData as detail:
print(detail)
print("Test3: ")
c_msg3 = (0x80, 0x0D, 0x01, 0x01, 0x02, 0x02, 0x06, 0x33, 0x33,
0x44, 0x44, 0x55, 0x55, 0x66, 0x66)
parser = MessageParser()
for msgByte in c_msg3:
parser.parseMsg(msgByte)
msgContent3 = parser.getRetVal()[2]
try:
data.decode(msgContent3)
except CorruptData as detail:
print(detail)
print("\n")
print("===================================================")
print("Testing testRetInvP2A----------------------complete\n\n\n")