Add serial interface

[~andy/csm213a-hw] / vis / device.py

diff --git a/vis/device.py b/vis/device.py
index a2050335fad4bc61ee56ec614a1e91a5b79e6272..b729f02fc80ecddca1705cd3cecaa8ba3cf8a770 100644 (file)
--- a/vis/device.py
+++ b/vis/device.py
@@ -1,5 +1,16 @@
+from re     import compile
 from serial import Serial
 
+class State:
+       acc   = [None]*3
+       mag   = [None]*3
+       touch = [None]*2
+       light = [None]*1
+       a2d   = [None]*6
+
+       def __init__(self):
+               pass
+
 class Device:
        # Attributes
        port = "/dev/ttyACM0"
@@ -7,12 +18,85 @@ class Device:
        # Constructors
        def __init__(self, config):
                self.config = config
+               self.serial = None
 
        # Methods
        def connect(self):
-               self.conn = Serial(self.port, \
-                       baudrate = self.config.baudrate, \
-                       parity   = self.config.parity,   \
-                       bytesize = self.config.databits, \
-                       stopbits = self.config.stopbits)
+               try:
+                       self.inbuf  = []
+                       self.serial = Serial(self.port,          \
+                               baudrate = self.config.baudrate, \
+                               parity   = self.config.parity,   \
+                               bytesize = self.config.databits, \
+                               stopbits = self.config.stopbits, \
+                               timeout  = 0)
+               except Exception as ex:
+                       return str(ex)
+
+       def disconnect(self):
+               if self.serial and self.serial.isOpen():
+                       self.serial.close()
+
+       def running(self):
+               if self.serial == None:
+                       return False
+               if self.serial.isOpen() == False:
+                       return False
+               return True
+
+       def process(self):
+               items = []
+               while self.serial.readable():
+                       try:
+                               char = self.serial.read()
+                       except Exception as ex:
+                               char = ''
+                       if char == '':
+                               break
+                       if char == '\r' or char == '\n':
+                               if len(self.inbuf) == 0:
+                                       continue
+                               line = "".join(self.inbuf)
+                               item = self._parse_ascii(line)
+                               items.append(item)
+                               self.inbuf = []
+                       else:
+                               self.inbuf.append(char)
+               return items
+
+       # Private methods
+       def _parse_ascii(self, line):
+               acc_re = compile("\[ACC\] accX=(.*) accY=(.*) accZ=(.*)")
+               mag_re = compile("\[MAG\] magX=(.*) magY=(.*) magZ=(.*)")
+               lgt_re = compile("\[LGT\] Light Intensity=(.*)")
+               tch_re = compile("\[TCH\] Force=(.*) Distance=(.*)")
+               a2d_re = compile("\[A2D\] ...")
+
+               acc_m = acc_re.match(line)
+               mag_m = mag_re.match(line)
+               lgt_m = lgt_re.match(line)
+               tch_m = tch_re.match(line)
+               a2d_m = a2d_re.match(line)
+
+               state = State()
+               if acc_m:
+                       state.acc[0]   = float(acc_m.group(1))
+                       state.acc[1]   = float(acc_m.group(2))
+                       state.acc[2]   = float(acc_m.group(3))
+               if mag_m:              
+                       state.acc[0]   = float(mag_m.group(1))
+                       state.acc[1]   = float(mag_m.group(2))
+                       state.acc[2]   = float(mag_m.group(3))
+               if lgt_m:
+                       state.light[0] = float(lgt_m.group(1))
+               if tch_m:
+                       state.touch[0] = float(tch_m.group(1))
+               if a2d_m:
+                       state.a2d[0]   = float(tch_m.group(1))
+                       state.a2d[1]   = float(tch_m.group(2))
+                       state.a2d[2]   = float(tch_m.group(3))
+                       state.a2d[3]   = float(tch_m.group(4))
+                       state.a2d[4]   = float(tch_m.group(5))
+                       state.a2d[5]   = float(tch_m.group(6))
 
+               return state