Pileus Git - ~andy/csm213a-hw/blob - vis/device.py

   1 from re       import compile
   2 from serial   import Serial
   3 from datetime import datetime
   4
   5 class State:
   6         acc   = [None]*3
   7         mag   = [None]*3
   8         touch = [None]*2
   9         light = [None]*1
  10         a2d   = [None]*6
  11         time  = None
  12
  13         def __init__(self):
  14                 self.time = datetime.utcnow()
  15
  16 class Device:
  17         # Attributes
  18         port = "/dev/ttyACM0"
  19
  20         # Constructors
  21         def __init__(self, config):
  22                 self.config = config
  23                 self.serial = None
  24
  25         # Methods
  26         def connect(self):
  27                 try:
  28                         self.inbuf  = []
  29                         self.serial = Serial(self.port,          \
  30                                 baudrate = self.config.baudrate, \
  31                                 parity   = self.config.parity,   \
  32                                 bytesize = self.config.databits, \
  33                                 stopbits = self.config.stopbits, \
  34                                 timeout  = 0)
  35                         self.serial.flushInput()
  36                 except Exception as ex:
  37                         return str(ex)
  38
  39         def disconnect(self):
  40                 if self.serial and self.serial.isOpen():
  41                         self.serial.close()
  42
  43         def running(self):
  44                 if self.serial == None:
  45                         return False
  46                 if self.serial.isOpen() == False:
  47                         return False
  48                 return True
  49
  50         def control(self):
  51                 pass
  52
  53         def process(self):
  54                 items = []
  55                 count = 0
  56                 limit = 1000
  57                 if not self.running():
  58                         return items
  59                 while self.serial.readable():
  60                         try:
  61                                 char = self.serial.read().decode()
  62                         except Exception as ex:
  63                                 char = ''
  64                         if len(char) == 0:
  65                                 break
  66                         if char == '\r' or char == '\n':
  67                                 if len(self.inbuf) == 0:
  68                                         continue
  69                                 line = "".join(self.inbuf)
  70                                 item = self._parse_ascii(line)
  71                                 items.append(item)
  72                                 self.inbuf = []
  73                         else:
  74                                 self.inbuf.append(char)
  75                         if count > limit:
  76                                 print("Error: exceeded read limit")
  77                                 break
  78                         count += 1
  79                 return items
  80
  81         # Private methods
  82         def _parse_ascii(self, line):
  83                 acc_re = compile("\[ACC\] accX=(.*) accY=(.*) accZ=(.*)")
  84                 mag_re = compile("\[MAG\] magX=(.*) magY=(.*) magZ=(.*)")
  85                 lgt_re = compile("\[LGT\] Light Intensity=(.*)")
  86                 tch_re = compile("\[TCH\] Force=(.*) Distance=(.*)")
  87                 a2d_re = compile("\[A2D\] ...")
  88
  89                 acc_m = acc_re.match(line)
  90                 mag_m = mag_re.match(line)
  91                 lgt_m = lgt_re.match(line)
  92                 tch_m = tch_re.match(line)
  93                 a2d_m = a2d_re.match(line)
  94
  95                 state = State()
  96                 if acc_m:
  97                         state.acc[0]   = float(acc_m.group(1))
  98                         state.acc[1]   = float(acc_m.group(2))
  99                         state.acc[2]   = float(acc_m.group(3))
 100                 if mag_m:
 101                         state.mag[0]   = float(mag_m.group(1))
 102                         state.mag[1]   = float(mag_m.group(2))
 103                         state.mag[2]   = float(mag_m.group(3))
 104                 if lgt_m:
 105                         state.light[0] = float(lgt_m.group(1))
 106                 if tch_m:
 107                         state.touch[0] = float(tch_m.group(1))
 108                 if a2d_m:
 109                         state.a2d[0]   = float(tch_m.group(1))
 110                         state.a2d[1]   = float(tch_m.group(2))
 111                         state.a2d[2]   = float(tch_m.group(3))
 112                         state.a2d[3]   = float(tch_m.group(4))
 113                         state.a2d[4]   = float(tch_m.group(5))
 114                         state.a2d[5]   = float(tch_m.group(6))
 115
 116                 return state