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

   1 import time
   2
   3 from re       import compile
   4 from serial   import Serial
   5 from datetime import datetime
   6
   7 class State:
   8         acc   = [None]*3
   9         mag   = [None]*3
  10         touch = [None]*2
  11         light = [None]*1
  12         a2d   = [None]*6
  13         time  = None
  14
  15         def __init__(self):
  16                 self.time = datetime.utcnow()
  17
  18 class Device:
  19         # Attributes
  20         port = "/dev/ttyACM0"
  21
  22         # Constructors
  23         def __init__(self, config):
  24                 self.config = config
  25                 self.serial = None
  26
  27         # Methods
  28         def connect(self):
  29                 try:
  30                         self.inbuf  = []
  31                         self.serial = Serial(self.port,          \
  32                                 baudrate = self.config.baudrate, \
  33                                 parity   = self.config.parity,   \
  34                                 bytesize = self.config.databits, \
  35                                 stopbits = self.config.stopbits, \
  36                                 timeout  = 0)
  37                         self.control()
  38                         self.serial.flushInput()
  39                 except Exception as ex:
  40                         return str(ex)
  41
  42         def disconnect(self):
  43                 if self.serial and self.serial.isOpen():
  44                         self.serial.close()
  45
  46         def running(self):
  47                 if self.serial == None:
  48                         return False
  49                 if self.serial.isOpen() == False:
  50                         return False
  51                 return True
  52
  53         def control(self):
  54                 for key in list(self.config.enable.keys()):
  55                         state = self.config.enable[key]
  56                         rate  = self.config.rate[key]
  57                         cmd   = 'start' if state else 'stop'
  58                         self._write_ascii('%s %s' % (cmd, key))
  59                         self._write_ascii('set %s int %d' % (key, rate))
  60
  61         def process(self):
  62                 items = []
  63                 count = 0
  64                 limit = 1000
  65                 if not self.running():
  66                         return items
  67                 while self.serial.readable():
  68                         try:
  69                                 char = self.serial.read().decode()
  70                         except Exception as ex:
  71                                 char = ''
  72                         if len(char) == 0:
  73                                 break
  74                         if char == '\r' or char == '\n':
  75                                 if len(self.inbuf) == 0:
  76                                         continue
  77                                 line = "".join(self.inbuf)
  78                                 print('read: [' + line + ']')
  79                                 item = self._parse_ascii(line)
  80                                 items.append(item)
  81                                 self.inbuf = []
  82                         else:
  83                                 self.inbuf.append(char)
  84                         if count > limit:
  85                                 print("Error: exceeded read limit")
  86                                 break
  87                         count += 1
  88                 return items
  89
  90         # Private methods
  91         def _write_ascii(self, line):
  92                 if self.serial:
  93                         print('write: [' + line + ']')
  94                         data = bytes(line+'\n', 'UTF-8')
  95                         self.serial.write(data)
  96                         self.serial.flush()
  97                         time.sleep(0.1)
  98
  99         def _parse_ascii(self, line):
 100                 acc_re = compile("\[ACC\] accX=(.*) accY=(.*) accZ=(.*)")
 101                 mag_re = compile("\[MAG\] magX=(.*) magY=(.*) magZ=(.*)")
 102                 lgt_re = compile("\[LGT\] Light Intensity=(.*)")
 103                 tch_re = compile("\[TCH\] Force=(.*) Distance=(.*)")
 104                 a2d_re = compile("\[A2D\] ...")
 105
 106                 acc_m = acc_re.match(line)
 107                 mag_m = mag_re.match(line)
 108                 lgt_m = lgt_re.match(line)
 109                 tch_m = tch_re.match(line)
 110                 a2d_m = a2d_re.match(line)
 111
 112                 state = State()
 113                 if acc_m:
 114                         state.acc[0]   = float(acc_m.group(1))
 115                         state.acc[1]   = float(acc_m.group(2))
 116                         state.acc[2]   = float(acc_m.group(3))
 117                 if mag_m:
 118                         state.mag[0]   = float(mag_m.group(1))
 119                         state.mag[1]   = float(mag_m.group(2))
 120                         state.mag[2]   = float(mag_m.group(3))
 121                 if lgt_m:
 122                         state.light[0] = float(lgt_m.group(1))
 123                 if tch_m:
 124                         state.touch[0] = float(tch_m.group(1))
 125                 if a2d_m:
 126                         state.a2d[0]   = float(tch_m.group(1))
 127                         state.a2d[1]   = float(tch_m.group(2))
 128                         state.a2d[2]   = float(tch_m.group(3))
 129                         state.a2d[3]   = float(tch_m.group(4))
 130                         state.a2d[4]   = float(tch_m.group(5))
 131                         state.a2d[5]   = float(tch_m.group(6))
 132
 133                 return state