def register_profile(self):
""" Register new profile on MCU """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.registration.profile_id = self.profile_id
req.registration.r_mcu_driver.SetInParent()
controller.send(req.SerializeToString())
logging.info(" Registration sent for Profile: %i", self.profile_id)
super().register_wait()
def register_profile(self):
""" Register new profile on MCU """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.registration.profile_id = self.profile_id
req.registration.r_color_sensor.address = 0 # currently not used
controller.send(req.SerializeToString())
logging.info(" Registration sent for Profile: %i", self.profile_id)
super().register_wait()
def get_ram(self):
""" Action function to get free RAM space """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.action.profile_id = self.profile_id
req.action.a_mcu_driver.mcu_action = line_protocol_pb2.RAM
self.curr_request = line_protocol_pb2.RAM
controller.send(req.SerializeToString())
self.profile_state = ProfileState.BLOCKING
super().action_wait()
def get_version(self):
""" Action function to get current firmware version """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.action.profile_id = self.profile_id
req.action.a_mcu_driver.mcu_action = line_protocol_pb2.VERSION
self.curr_request = line_protocol_pb2.VERSION
controller.send(req.SerializeToString())
self.profile_state = ProfileState.BLOCKING
super().action_wait()
def register_profile(self):
""" register new profile on MCU """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.registration.profile_id = self.profile_id
req.registration.r_uart_ttl_generic.port = self.port
req.registration.r_uart_ttl_generic.baudrate = self.baudrate
controller.send(req.SerializeToString())
logging.info(" UART: Registration sent (Profile: %i)", self.profile_id)
super().register_wait()
def register_profile(self):
""" register new profile on MCU """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.registration.profile_id = self.profile_id
req.registration.r_digital_generic.pin = self.pin
req.registration.r_digital_generic.mode = self.mode
controller.send(req.SerializeToString())
logging.info(" Registration sent for Profile: %i", self.profile_id)
super().register_wait()
def set_steps(self, steps, time_min_val, wait):
""" Action function for step_motor profiles to set the motor steps """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.action.profile_id = self.profile_id
req.action.a_step_motor.steps = steps
req.action.a_step_motor.time_min_val = time_min_val
req.action.a_step_motor.wait = wait
controller.send(req.SerializeToString())
self.profile_state = ProfileState.BLOCKING
super().action_wait()
def action_profile(self):
""" Action function for ultrasonic_sensor profiles """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.action.profile_id = self.profile_id
req.action.a_ultrasonic_sensor.event_triggered = False # not supported
controller.send(req.SerializeToString())
logging.info(
"Ultrasonic sensor: sent action (Profile: %i)", self.profile_id)
self.profile_state = ProfileState.BLOCKING
super().action_wait()
def send_command(self, command, event):
""" Send command to UART2/3 """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.action.profile_id = self.profile_id
req.action.a_uart_ttl_generic.command = command
req.action.a_uart_ttl_generic.event_triggered = event
controller.send(req.SerializeToString())
logging.info(" UART: Command sent (Profile: %i)", self.profile_id)
self.profile_state = ProfileState.BLOCKING
super().action_wait()
def read_digital(self):
""" Read digital pin """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.action.profile_id = self.profile_id
req.action.a_digital_generic.event_triggered = False
controller.send(req.SerializeToString())
logging.info(
" Digital pin action: Read pin (Profile: %i)", self.profile_id)
self.profile_state = ProfileState.BLOCKING
super().action_wait()
return self.pin_state
def read_event_digital(self, trigger_value):
"""Start event listening for digital pin.
Args:
trigger_value (HIGH/LOW): used to set value on which event will be triggered
"""
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.action.profile_id = self.profile_id
req.action.a_digital_generic.output = trigger_value
req.action.a_digital_generic.event_triggered = True
controller.send(req.SerializeToString())
logging.info(
" Digital pin action: Start event listening (Profile: %i)", self.profile_id
)
self.profile_state = ProfileState.BLOCKING
super().action_wait()
def write_digital(self, output):
""" Write digital pin to HIGH/LOW """
req = line_protocol_pb2.Request()
# pylint: disable=no-member
req.action.profile_id = self.profile_id
req.action.a_digital_generic.output = output
controller.send(req.SerializeToString())
if output == line_protocol_pb2.HIGH:
logging.info(
" Digital pin action: HIGH sent (Profile: %i)", self.profile_id
)
self.pin_state = True # IDEA: do this on receiving ack
elif output == line_protocol_pb2.LOW:
logging.info(
" Digital pin action: LOW sent (Profile: %i)", self.profile_id)
self.pin_state = False # IDEA: do this on receiving ack
self.profile_state = ProfileState.BLOCKING
super().action_wait()
