class Arduino_Interface(object):
## ##
## CONSTANTS ##
## ##
## ##
PING = 0x01
TEST_DATA = 0x02
## ##
## Initalization ##
## ##
## ##
def __init__(self, port, log_handler):
## Initalize logging
logging.basicConfig(level=logging.DEBUG)
self.logger = logging.getLogger('Arduino_Interface')
self.logger.addHandler(log_handler) # Add Tk log handler
self.logger.debug('__init__')
## Board Initalization
self.board = Arduino(port)
self.board.add_cmd_handler(pyfirmata.START_SYSEX, self.handleIncomingSysEx)
self.board.add_cmd_handler(pyfirmata.STRING_DATA, self.handleIncomingString)
## Data Buffer Initalization
self.incoming_data = []
## Callback holder
self.callback_holder = dict()
## ##
## Runtime Functions ##
## ##
## ##
def begin_scanning(self):
self.board.iterate()
## ##
## Senders ##
## ##
## ##
def ping(self, pingCallback):
self.logger.debug('----Sending Ping----')
## Attach callback
self.callback_holder[Arduino_Interface.PING] = pingCallback
byte_array = bytearray()
byte_array.append(Arduino_Interface.PING)
self.sendSysEx(byte_array)
def requestTestData(self, testDataCallback):
self.logger.debug('----Requesting Test Data----')
## Attach callback
self.callback_holder[Arduino_Interface.TEST_DATA] = testDataCallback
byte_array = bytearray()
byte_array.append(Arduino_Interface.TEST_DATA)
self.sendSysEx(byte_array)
def sendSysEx(self, byteArray):
self.logger.debug('----sendSysEx----')
self.logger.debug('SEND Data: {}'.format(binascii.hexlify(byteArray)))
self.board.send_sysex(pyfirmata.START_SYSEX, byteArray)
self.begin_scanning()
def sendString(self, stringToSend):
pass
#self.board.send_sysex
# for byte in dataArray:
# self.incoming_data.append(chr(byte))
# print self.incoming_data
## ##
## Handlers ##
## ##
## ##
def handleIncomingString(self, *string):
self.logger.debug('handling Incoming String')
## Flush incoming_data
self.incoming_data = []
for byte in string:
self.incoming_data.append(chr(byte))
recieved_string = ''.join(self.incoming_data)
print recieved_string
def handleIncomingSysEx(self, *byteArray):
self.logger.debug('----Incoming SysEx----')
## Flush incoming_data array
self.incoming_data = []
self.incoming_data = self.filterSysEx(byteArray)
## Get header
header = byteArray[0]
self.logger.debug('header: {}'.format(header))
if (header == Arduino_Interface.PING):
self.logger.debug('PING Response recieved')
## Ping response recieved. Return True
self.callback_holder[Arduino_Interface.PING](True)
elif (header == Arduino_Interface.TEST_DATA):
self.logger.debug('Test Data recieved')
self.callback_holder[Arduino_Interface.TEST_DATA](self.incoming_data)
## ##
## Utilities ##
## ##
## ##
def filterSysEx(self, byteArray):
self.logger.debug('filterSysEx')
incoming_data = []
for idx, byte in enumerate(byteArray):
if idx == 0:
continue
incoming_data.append(byte)
self.logger.debug('SysEx Data:')
self.logger.debug(incoming_data)
return incoming_data
# Booleans for determining stall vacancy
isOccupiedOne = False
isOccupiedTwo = False
# Sets analog pins to be able to read voltage
board.analog[5].enable_reporting()
board.analog[4].enable_reporting()
# Sets pins 11 and 13 to HIGH
board.digital[11].write(1)
board.digital[13].write(1)
# Continuously loop
while True:
board.iterate() # Makes the board cycle to refresh analog readings
# Setting some preconditions
occupiedStatusOne = isOccupiedOne
occupiedStatusTwo = isOccupiedTwo
# If the analog for latch one reads LOW, set pin 12 to HIGH, the stall is vacant
# If the analog for latch one reads HIGH, set pin 12 to LOW, the stall is occupied
if board.analog[4].read() == 0.0 or board.analog[4].read() == 0.001:
board.digital[12].write(1)
isOccupiedOne = False
else:
board.digital[12].write(0)
isOccupiedOne = True
# If the analog for latch two reads LOW, set pin 10 to HIGH, the stall is vacant
class Controls(object):
iterator = ''
board = ''
servos = None
digitalouts = None
buttons = None
subsock = None
def __init__(self, session):
monkey.patch_socket()
import gevent_zeromq
gevent_zeromq.monkey_patch()
#we do use greenlets, but only patch sock stuff
#other stuff messes up the
config = session.arduino
boardglob = config['board']
boards = glob(boardglob)
if not len(boards):
raise Exception("No Arduino found")
self.board = Arduino(boards[0])
#self.iterator = util.Iterator(self.board)
#self.iterator.daemon = True
#self.iterator.start()
#initialize servo objects
self.servos = {}
if "servos" in config:
for servo in config["servos"]:
self.servos[servo['name']] = Servo(servo['pin'], self.board)
#initialize light objects
self.digitalouts = {}
if "digitalouts" in config:
for do in config["digitalouts"]:
self.digitalouts[do['name']] = DigitalOut(do['pin'], self.board)
if "digitalouts" in config or "servos" in config:
self.subsock = ChannelManager().subscribe("ControlOutput/")
self.buttons = []
if "buttons" in config:
for button in config["buttons"]:
self.buttons.append(Button(button['pin'], button['message'], self.board))
self.potentiometers = []
if "potentiometers" in config:
for pot in config["potentiometers"]:
self.buttons.append(Potentiometer(pot['pin'], pot['name'], self.board))
def checkSubscription(self):
if not self.subsock:
return
while True:
channel = self.subsock.recv()
message = self.subsock.recv()
message = jsondecode(message)
for name,value in message.items():
if name in self.servos:
self.servos[name].moveTo(value)
elif name in self.digitalouts:
self.digitalouts[name].write(value)
gevent.sleep(0)
def run(self):
if self.subsock and len(self.buttons):
gevent.spawn_link_exception(Controls.checkSubscription, self)
elif self.subsock:
self.checkSubscription()
return
while True:
while self.board.bytes_available():
self.board.iterate()
#make sure we have a clean buffer before bouncing the buttons
for b in self.buttons:
b.read()
for p in self.potentiometers:
p.read()
gevent.sleep(0)
from pyfirmata import Arduino, util
import pyfirmata
from time import sleep
from mqtt_lib import Communicator
board = Arduino('/dev/serial/by-id/usb-1a86_USB2.0-Serial-if00-port0') # Nano
#board = Arduino('/dev/serial/by-id/usb-Arduino__www.arduino.cc__0043_55432333038351E0F022-if00') # Uno
print('Connected')
value = board.get_pin('d:4:i') # type: pyfirmata.Pin
it = util.Iterator(board)
it.start()
board.iterate()
PIN_MODE_PULLUP = 0x0B
msg = bytearray([pyfirmata.SET_PIN_MODE, value.pin_number, PIN_MODE_PULLUP])
value.board.sp.write(msg)
c = Communicator()
while True:
input = value.read()
if input == True:
print('Switch is High')
c.send_message(True, True)
else:
print('Switch is Low')
c.send_message(False, False)
class Arduino_Interface(object):
## ##
## CONSTANTS ##
## ##
## ##
PING = 0x01
TEST_DATA = 0x02
## ##
## Initalization ##
## ##
## ##
def __init__(self, port, log_handler):
## Initalize logging
logging.basicConfig(level=logging.DEBUG)
self.logger = logging.getLogger('Arduino_Interface')
self.logger.addHandler(log_handler) # Add Tk log handler
self.logger.debug('__init__')
## Board Initalization
self.board = Arduino(port)
self.board.add_cmd_handler(pyfirmata.START_SYSEX,
self.handleIncomingSysEx)
self.board.add_cmd_handler(pyfirmata.STRING_DATA,
self.handleIncomingString)
## Data Buffer Initalization
self.incoming_data = []
## Callback holder
self.callback_holder = dict()
## ##
## Runtime Functions ##
## ##
## ##
def begin_scanning(self):
self.board.iterate()
## ##
## Senders ##
## ##
## ##
def ping(self, pingCallback):
self.logger.debug('----Sending Ping----')
## Attach callback
self.callback_holder[Arduino_Interface.PING] = pingCallback
byte_array = bytearray()
byte_array.append(Arduino_Interface.PING)
self.sendSysEx(byte_array)
def requestTestData(self, testDataCallback):
self.logger.debug('----Requesting Test Data----')
## Attach callback
self.callback_holder[Arduino_Interface.TEST_DATA] = testDataCallback
byte_array = bytearray()
byte_array.append(Arduino_Interface.TEST_DATA)
self.sendSysEx(byte_array)
def sendSysEx(self, byteArray):
self.logger.debug('----sendSysEx----')
self.logger.debug('SEND Data: {}'.format(binascii.hexlify(byteArray)))
self.board.send_sysex(pyfirmata.START_SYSEX, byteArray)
self.begin_scanning()
def sendString(self, stringToSend):
pass
#self.board.send_sysex
# for byte in dataArray:
# self.incoming_data.append(chr(byte))
# print self.incoming_data
## ##
## Handlers ##
## ##
## ##
def handleIncomingString(self, *string):
self.logger.debug('handling Incoming String')
## Flush incoming_data
self.incoming_data = []
for byte in string:
self.incoming_data.append(chr(byte))
recieved_string = ''.join(self.incoming_data)
print recieved_string
def handleIncomingSysEx(self, *byteArray):
self.logger.debug('----Incoming SysEx----')
## Flush incoming_data array
self.incoming_data = []
self.incoming_data = self.filterSysEx(byteArray)
## Get header
header = byteArray[0]
self.logger.debug('header: {}'.format(header))
if (header == Arduino_Interface.PING):
self.logger.debug('PING Response recieved')
## Ping response recieved. Return True
self.callback_holder[Arduino_Interface.PING](True)
elif (header == Arduino_Interface.TEST_DATA):
self.logger.debug('Test Data recieved')
self.callback_holder[Arduino_Interface.TEST_DATA](
self.incoming_data)
## ##
## Utilities ##
## ##
## ##
def filterSysEx(self, byteArray):
self.logger.debug('filterSysEx')
incoming_data = []
for idx, byte in enumerate(byteArray):
if idx == 0:
continue
incoming_data.append(byte)
self.logger.debug('SysEx Data:')
self.logger.debug(incoming_data)
return incoming_data
