def testGetDepositLocation():
print(sys._getframe().f_code.co_name + ": ")
dbConnect = DbConnect(InventoryDAO.getDbDir())
connector = dbConnect.getConnection()
arduinoService = ArduinoService()
print(arduinoService.getDepositLocation())
print("===================================================")
print("Testing testProcessRetrievedInventory-------------------complete\n\n\n")
def testDepositInventory():
print(sys._getframe().f_code.co_name + ": ")
dbConnect = DbConnect(InventoryDAO.getDbDir())
connector = dbConnect.getConnection()
arduinoService = ArduinoService()
[newXIdx, newYIdx, newXEncoder, newYEncoder] = arduinoService.getDepositLocation()
print([newXIdx, newYIdx, newXEncoder, newYEncoder])
arduinoService.depositInventory(5, newXIdx, newYIdx, newXEncoder, newYEncoder)
inventoryDAO = InventoryDAO(connector)
print(inventoryDAO.selectAllEntries())
print("===================================================")
print("Testing testDepositInventory-------------------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)