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

   1 from re     import compile
   2 from serial import Serial
   3
   4 class State:
   5         acc   = [None]*3
   6         mag   = [None]*3
   7         touch = [None]*2
   8         light = [None]*1
   9         a2d   = [None]*6
  10
  11         def __init__(self):
  12                 pass
  13
  14 class Device:
  15         # Attributes
  16         port = "/dev/ttyACM0"
  17
  18         # Constructors
  19         def __init__(self, config):
  20                 self.config = config
  21                 self.serial = None
  22
  23         # Methods
  24         def connect(self):
  25                 try:
  26                         self.inbuf  = []
  27                         self.serial = Serial(self.port,          \
  28                                 baudrate = self.config.baudrate, \
  29                                 parity   = self.config.parity,   \
  30                                 bytesize = self.config.databits, \
  31                                 stopbits = self.config.stopbits, \
  32                                 timeout  = 0)
  33                 except Exception as ex:
  34                         return str(ex)
  35
  36         def disconnect(self):
  37                 if self.serial and self.serial.isOpen():
  38                         self.serial.close()
  39
  40         def running(self):
  41                 if self.serial == None:
  42                         return False
  43                 if self.serial.isOpen() == False:
  44                         return False
  45                 return True
  46
  47         def process(self):
  48                 items = []
  49                 while self.serial.readable():
  50                         try:
  51                                 char = self.serial.read()
  52                         except Exception as ex:
  53                                 char = ''
  54                         if char == '':
  55                                 break
  56                         if char == '\r' or char == '\n':
  57                                 if len(self.inbuf) == 0:
  58                                         continue
  59                                 line = "".join(self.inbuf)
  60                                 item = self._parse_ascii(line)
  61                                 items.append(item)
  62                                 self.inbuf = []
  63                         else:
  64                                 self.inbuf.append(char)
  65                 return items
  66
  67         # Private methods
  68         def _parse_ascii(self, line):
  69                 acc_re = compile("\[ACC\] accX=(.*) accY=(.*) accZ=(.*)")
  70                 mag_re = compile("\[MAG\] magX=(.*) magY=(.*) magZ=(.*)")
  71                 lgt_re = compile("\[LGT\] Light Intensity=(.*)")
  72                 tch_re = compile("\[TCH\] Force=(.*) Distance=(.*)")
  73                 a2d_re = compile("\[A2D\] ...")
  74
  75                 acc_m = acc_re.match(line)
  76                 mag_m = mag_re.match(line)
  77                 lgt_m = lgt_re.match(line)
  78                 tch_m = tch_re.match(line)
  79                 a2d_m = a2d_re.match(line)
  80
  81                 state = State()
  82                 if acc_m:
  83                         state.acc[0]   = float(acc_m.group(1))
  84                         state.acc[1]   = float(acc_m.group(2))
  85                         state.acc[2]   = float(acc_m.group(3))
  86                 if mag_m:
  87                         state.acc[0]   = float(mag_m.group(1))
  88                         state.acc[1]   = float(mag_m.group(2))
  89                         state.acc[2]   = float(mag_m.group(3))
  90                 if lgt_m:
  91                         state.light[0] = float(lgt_m.group(1))
  92                 if tch_m:
  93                         state.touch[0] = float(tch_m.group(1))
  94                 if a2d_m:
  95                         state.a2d[0]   = float(tch_m.group(1))
  96                         state.a2d[1]   = float(tch_m.group(2))
  97                         state.a2d[2]   = float(tch_m.group(3))
  98                         state.a2d[3]   = float(tch_m.group(4))
  99                         state.a2d[4]   = float(tch_m.group(5))
 100                         state.a2d[5]   = float(tch_m.group(6))
 101
 102                 return state