class USBDriver(AbstractDriver):
def __init__(self, device_map, options):
self._serial = None
self._PROTOCOL = Protocol(device_map)
self._OPTIONS = options
def _findDevice(self):
com = None
# TODO: Will fix device finding method.
for DEVICE in list(serial.tools.list_ports.comports()):
if 'Arduino Micro' in DEVICE[1]:
com = DEVICE[0]
return com
def apply(self, device, value):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
try:
self._serial.write(self._PROTOCOL.apply(device, int(value)))
time.sleep(0.01)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def applyDiff(self, device, value):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
try:
self._serial.write(self._PROTOCOL.applyDiff(device, int(value)))
time.sleep(0.01)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def setHome(self, device, value):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
try:
self._serial.write(self._PROTOCOL.setHome(device, int(value)))
time.sleep(0.01)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def play(self, slot):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
try:
self._serial.write(self._PROTOCOL.playMotion(slot))
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def stop(self):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
try:
self._serial.write(self._PROTOCOL.stopMotion())
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def push(self, slot, loop_count):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
try:
# TODO: Will fix loop_count adjustment.
self._serial.write(self._PROTOCOL.pushCode(int(slot), int(loop_count) + 1))
time.sleep(0.01)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def pop(self):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
try:
self._serial.write(self._PROTOCOL.popCode())
time.sleep(0.01)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def install(self, motion):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
if not validate(motion):
_LOGGER.error('Motion schema is wrong!')
return False
CMD = self._PROTOCOL.install(motion)
# Divide command length by payload size.
PAYLOAD = 32
BLOCK, SURPLUS = divmod(len(CMD), PAYLOAD)
try:
for INDEX in range(BLOCK):
self._serial.write(CMD[PAYLOAD * INDEX: PAYLOAD * (INDEX + 1)])
time.sleep(0.05)
if SURPLUS:
self._serial.write(CMD[-SURPLUS:])
time.sleep(0.05)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def resetJointSettings(self):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
try:
self._serial.write(
self._PROTOCOL.setJointSettings()
+ self._PROTOCOL.homePosition()
)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return False
return True
def getMotion(self, slot):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return None
try:
self._serial.write(self._PROTOCOL.getMotion(slot))
time.sleep(0.1)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return None
motion = ''
while self._serial.in_waiting > 0:
motion += self._serial.read(self._serial.in_waiting)
time.sleep(0.01)
if len(motion):
return json.loads(motion)
return None
def getVersionInformation(self):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return None
try:
self._serial.write(self._PROTOCOL.getVersionInformation())
time.sleep(0.1)
except (
serial.serialutil.SerialException,
serial.serialutil.SerialTimeoutException
):
_LOGGER.error('USB cable is disconnected!')
self.disconnect()
return None
version = ''
while self._serial.in_waiting > 0:
version += self._serial.read(self._serial.in_waiting)
time.sleep(0.01)
if len(version):
return json.loads(version)
return None
def connect(self):
self.disconnect()
COM = self._findDevice()
if COM is None:
_LOGGER.error('PLEN is not found!')
return False
self._serial = serial.Serial(port=COM, baudrate=2000000, timeout=1)
self._serial.reset_input_buffer()
self._serial.reset_output_buffer()
return True
def disconnect(self):
if self._serial is None:
_LOGGER.error('Serial connection is disabled!')
return False
self._serial.close()
self._serial = None
return True
def upload(self, code):
self.disconnect()
COM = self._findDevice()
if COM is None:
_LOGGER.error('PLEN is not found!')
return False
shutil.rmtree('temp', ignore_errors=True)
os.mkdir('temp')
with open('./temp/temp.ino', 'w') as fout:
fout.write(code)
proc = subprocess.Popen(
[
self._OPTIONS['compiler']['path'],
'--port', COM,
'--board', 'arduino:avr:micro',
'--upload', os.path.realpath('./temp/temp.ino')
],
stdout = subprocess.PIPE,
stderr = subprocess.STDOUT
)
proc.wait()
if _OS_TYPE == 'Windows':
return proc.stdout.read().decode('shift-jis').encode('utf-8')
return proc.stdout.read()
