class RouterDriver(object):
'''This object interacts with the bartendro router controller.'''
def __init__(self, device, software_only):
self.device = device
self.ser = None
self.msg = ""
self.ret = 0
self.software_only = software_only
self.dispenser_select = None
self.dispenser_version = DISPENSER_DEFAULT_VERSION
self.startup_log = ""
self.debug_levels = [200, 180, 120]
# dispenser_ids are the ids the dispensers have been assigned. These are logical ids
# used for dispenser communication.
self.dispenser_ids = [255 for i in xrange(MAX_DISPENSERS)]
# dispenser_ports are the ports the dispensers have been plugged into.
self.dispenser_ports = [255 for i in xrange(MAX_DISPENSERS)]
if software_only:
self.num_dispensers = MAX_DISPENSERS
else:
self.num_dispensers = 0
def get_startup_log(self):
return self.startup_log
def get_dispenser_version(self):
return self.dispenser_version
def reset(self):
"""Reset the hardware. Do this if there is shit going wrong. All motors will be stopped
and reset."""
if self.software_only:
return
self.close()
self.open()
def count(self):
return self.num_dispensers
def set_timeout(self, timeout):
self.ser.timeout = timeout
def open(self):
'''Open the serial connection to the router'''
if self.software_only:
return
self._clear_startup_log()
try:
log.info("Opening %s" % self.device)
self.ser = serial.Serial(self.device,
BAUD_RATE,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
timeout=.01)
except serial.serialutil.SerialException, e:
raise SerialIOError(e)
log.info("Done.\n")
import status_led
self.status = status_led.StatusLED(self.software_only)
self.status.set_color(0, 0, 1)
self.dispenser_select = dispenser_select.DispenserSelect(
MAX_DISPENSERS, self.software_only)
self.dispenser_select.open()
self.dispenser_select.reset()
# This primes the communication line.
self.ser.write(chr(170) + chr(170) + chr(170))
sleep(.001)
log.info("Discovering dispensers")
self.num_dispensers = 0
for port in xrange(MAX_DISPENSERS):
self._log_startup("port %d:" % port)
self.dispenser_select.select(port)
sleep(.01)
while True:
self.ser.flushInput()
self.ser.write("???")
data = self.ser.read(3)
ll = ""
for ch in data:
ll += "%02X " % ord(ch)
if len(data) == 3:
if data[0] != data[1] or data[0] != data[2]:
self._log_startup(" %s -- inconsistent" % ll)
continue
id = ord(data[0])
self.dispenser_ids[self.num_dispensers] = id
self.dispenser_ports[self.num_dispensers] = port
self.num_dispensers += 1
self._log_startup(
" %s -- Found dispenser with pump id %02X, index %d" %
(ll, id, self.num_dispensers))
break
elif len(data) > 1:
self._log_startup(
" %s -- Did not receive 3 characters back. Trying again."
% ll)
sleep(.5)
else:
break
self._select(0)
self.set_timeout(DEFAULT_TIMEOUT)
self.ser.write(chr(255))
duplicate_ids = [
x for x, y in collections.Counter(self.dispenser_ids).items()
if y > 1
]
if len(duplicate_ids):
for dup in duplicate_ids:
if dup == 255:
continue
self._log_startup("ERROR: Dispenser id conflict!\n")
sent = False
for i, d in enumerate(self.dispenser_ids):
if d == dup:
if not sent:
self._send_packet8(i, PACKET_ID_CONFLICT, 0)
sent = True
self._log_startup(" dispenser %d has id %d\n" %
(i, d))
self.dispenser_ids[i] = 255
self.num_dispensers -= 1
self.dispenser_version = self.get_dispenser_version(0)
if self.dispenser_version < 0:
self.dispenser_version = DISPENSER_DEFAULT_VERSION
else:
self.status.swap_blue_green()
log.info(
"Detected dispensers version %d. (Only checked first dispenser)" %
self.dispenser_version)
self.led_idle()
def open(self):
'''Open the serial connection to the router'''
if self.software_only: return
self._clear_startup_log()
try:
log.info("Opening %s" % self.device)
self.ser = serial.Serial(self.device,
BAUD_RATE,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
timeout=.01)
except serial.serialutil.SerialException:
raise SerialIOError
log.info("Done.\n")
import status_led
self.status = status_led.StatusLED(self.software_only)
self.status.set_color(0, 0, 1)
self.dispenser_select = dispenser_select.DispenserSelect(
MAX_DISPENSERS, self.software_only)
self.dispenser_select.open()
self.dispenser_select.reset()
# This primes the communication line.
self.ser.write(chr(170) + chr(170) + chr(170))
sleep(.001)
log.info("Discovering dispensers")
self.num_dispensers = 0
for port in xrange(MAX_DISPENSERS):
self._log_startup("port %d:" % port)
self.dispenser_select.select(port)
sleep(.01)
while True:
self.ser.flushInput()
self.ser.write("???")
data = self.ser.read(3)
ll = ""
for ch in data:
ll += "%02X " % ord(ch)
if len(data) == 3:
if data[0] != data[1] or data[0] != data[2]:
self._log_startup(" %s -- inconsistent" % ll)
continue
id = ord(data[0])
self.dispenser_ids[self.num_dispensers] = id
self.dispenser_ports[self.num_dispensers] = port
self.num_dispensers += 1
self._log_startup(
" %s -- Found dispenser with pump id %02X, index %d" %
(ll, id, self.num_dispensers))
break
elif len(data) > 1:
self._log_startup(
" %s -- Did not receive 3 characters back. Trying again."
% ll)
sleep(.5)
else:
break
self._select(0)
self.set_timeout(DEFAULT_TIMEOUT)
self.ser.write(chr(255))
duplicate_ids = [
x for x, y in collections.Counter(self.dispenser_ids).items()
if y > 1
]
if len(duplicate_ids):
for dup in duplicate_ids:
if dup == 255: continue
self._log_startup("ERROR: Dispenser id conflict!\n")
sent = False
for i, d in enumerate(self.dispenser_ids):
if d == dup:
if not sent:
self._send_packet8(i, PACKET_ID_CONFLICT, 0)
sent = True
self._log_startup(" dispenser %d has id %d\n" %
(i, d))
self.dispenser_ids[i] = 255
self.num_dispensers -= 1
self.led_idle()
class RouterDriver(object):
''' plug in replacement for Bartendro RouterDriver to control the naive
peristlatic pumps from Hello Drinkbot project. Provides a layer above
the AdaFruit motor library which understands pumps'''
def __init__(self, device, software_only=False):
''' device is ignored, it is required for bartendro hardware'''
self.device = device
self.__doc__ = 'foo'
self.dispenser_cnt = 8
self.software_only = software_only
self.dispenser_version = DISPENSER_DEFAULT_VERSION
self.startup_log = ""
# I need a hellodrinkbot switch
#if not software_only:
if 1:
try:
self.mh1 = Adafruit_MotorHAT(addr=0x60)
#self.ports = [self.mh1.getMotor(foo+1) for foo in range(4)]
#for motor in range(4):
#self.ports[motor].setSpeed(255)
except:
# no motor hat, but that might be fine
self.mh1 = Fake_MotorHAT()
log.info("No Motor Hat?")
self.ports = [self.mh1.getMotor(foo + 1) for foo in range(4)]
for motor in range(4):
self.ports[motor].setSpeed(255)
pass
# Add a second motor hat, with a second address. Comment the
# above lines, replace with something like this:
# self.mh1 = Adafruit_MotorHAT(addr=0x60)
# self.mh2 = Adafruit_MotorHAT(addr=0xXX)
# self.ports = [self.mh1.getMotor(range(1,9))]
# for motor in range(8):
# self.ports[motor].setSpeed(255)
else:
#self.ports = [i for i in range(1, 5)]
pass
self.num_dispensers = MAX_DISPENSERS
self.dispensers = [
#{'port': None, 'direction': MOTOR_DIRECTION_FORWARD},
{
'port': 0,
'direction': MOTOR_DIRECTION_FORWARD
},
{
'port': 0,
'direction': MOTOR_DIRECTION_BACKWARD
},
{
'port': 1,
'direction': MOTOR_DIRECTION_FORWARD
},
{
'port': 1,
'direction': MOTOR_DIRECTION_BACKWARD
},
{
'port': 2,
'direction': MOTOR_DIRECTION_FORWARD
},
{
'port': 2,
'direction': MOTOR_DIRECTION_BACKWARD
},
{
'port': 3,
'direction': MOTOR_DIRECTION_FORWARD
},
{
'port': 3,
'direction': MOTOR_DIRECTION_BACKWARD
},
]
def get_startup_log(self):
return self.startup_log
def get_dispenser_version(self):
return self.dispenser_version
def reset(self):
"""Reset the hardware. Do this if there is shit going wrong. All motors will be stopped
and reset."""
if self.software_only:
return
self.close()
self.open()
def count(self):
return self.num_dispensers
def set_timeout(self, timeout):
self.ser.timeout = timeout
def open(self):
'''Open the serial connection to the router'''
if self.software_only:
return
self._clear_startup_log()
try:
log.info("Opening %s" % self.device)
self.ser = serial.Serial(self.device,
BAUD_RATE,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
timeout=.01)
except serial.serialutil.SerialException, e:
#raise SerialIOError(e)
pass
log.info("Done.\n")
import status_led
self.status = status_led.StatusLED(self.software_only)
self.status.set_color(0, 0, 1)
#self.dispenser_select = dispenser_select.DispenserSelect(
# MAX_DISPENSERS, self.software_only)
#self.dispenser_select.open()
#self.dispenser_select.reset()
# This primes the communication line.
self.ser.write(chr(170) + chr(170) + chr(170))
sleep(.001)
log.info("Discovering dispensers")
self.num_dispensers = 0
for port in xrange(MAX_DISPENSERS):
self._log_startup("port %d:" % port)
#self.dispenser_select.select(port)
sleep(.01)
while True:
self.ser.flushInput()
self.ser.write("???")
data = self.ser.read(3)
ll = ""
for ch in data:
ll += "%02X " % ord(ch)
if len(data) == 3:
if data[0] != data[1] or data[0] != data[2]:
self._log_startup(" %s -- inconsistent" % ll)
continue
id = ord(data[0])
self.dispenser_ids[self.num_dispensers] = id
self.dispenser_ports[self.num_dispensers] = port
self.num_dispensers += 1
self._log_startup(
" %s -- Found dispenser with pump id %02X, index %d" %
(ll, id, self.num_dispensers))
break
elif len(data) > 1:
self._log_startup(
" %s -- Did not receive 3 characters back. Trying again."
% ll)
sleep(.5)
else:
break
self._select(0)
self.set_timeout(DEFAULT_TIMEOUT)
self.ser.write(chr(255))
duplicate_ids = [
x for x, y in collections.Counter(self.dispenser_ids).items()
if y > 1
]
if len(duplicate_ids):
for dup in duplicate_ids:
if dup == 255:
continue
self._log_startup("ERROR: Dispenser id conflict!\n")
sent = False
for i, d in enumerate(self.dispenser_ids):
if d == dup:
if not sent:
self._send_packet8(i, PACKET_ID_CONFLICT, 0)
sent = True
self._log_startup(" dispenser %d has id %d\n" %
(i, d))
self.dispenser_ids[i] = 255
self.num_dispensers -= 1
self.dispenser_version = self.get_dispenser_version(0)
if self.dispenser_version < 0:
self.dispenser_version = DISPENSER_DEFAULT_VERSION
else:
self.status.swap_blue_green()
log.info(
"Detected dispensers version %d. (Only checked first dispenser)" %
self.dispenser_version)
self.led_idle()
def open(self):
'''Open the serial connection to the router'''
if self.software_only: return
try:
print "Opening %s" % self.device
self.ser = serial.Serial(self.device,
BAUD_RATE,
bytesize=serial.EIGHTBITS,
parity=serial.PARITY_NONE,
stopbits=serial.STOPBITS_ONE,
timeout=.01)
except serial.serialutil.SerialException:
raise SerialIOError
print "Done."
print
import status_led
self.status = status_led.StatusLED(self.software_only)
self.status.set_color(0, 0, 1)
self.dispenser_select = dispenser_select.DispenserSelect(
MAX_DISPENSERS, self.software_only)
self.dispenser_select.open()
self.dispenser_select.reset()
# This primes the communication line.
self.ser.write(chr(170) + chr(170) + chr(170))
sleep(.001)
self.num_dispensers = 0
for port in xrange(MAX_DISPENSERS):
print "port %d" % port
self.dispenser_select.select(port)
sleep(.01)
while True:
self.ser.flushInput()
self.ser.write("???")
data = self.ser.read(3)
for ch in data:
print "%02X " % ord(ch),
if len(data) == 3:
if data[0] != data[1] or data[0] != data[2]:
print "inconsistent"
continue
id = ord(data[0])
self.dispenser_ids[self.num_dispensers] = id
self.dispenser_ports[self.num_dispensers] = port
self.num_dispensers += 1
print "Found dispenser %d with pump id %d -- assigned dispenser %d" % (
port, id, self.num_dispensers)
break
elif len(data) > 1:
print "Did not receive 3 characters back. Trying again."
sleep(.5)
else:
break
self.select(0)
self.ser.timeout = 2
self.ser.write(chr(255))
duplicate_ids = [
x for x, y in collections.Counter(self.dispenser_ids).items()
if y > 1
]
if len(duplicate_ids):
for dup in duplicate_ids:
if dup == 255: continue
print "ERROR: Dispenser id conflict!"
sent = False
for i, d in enumerate(self.dispenser_ids):
if d == dup:
if not sent:
self.send_packet8(i, PACKET_ID_CONFLICT, 0)
sent = True
print " dispenser %d has id %d" % (i, d)
self.dispenser_ids[i] = 255
self.num_dispensers -= 1
#self.num_dispensers = 1
self.led_idle()