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view telemetrix_local.py @ 3:67402d8b4e0d
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| author | drewp@bigasterisk.com |
|---|---|
| date | Sun, 05 Feb 2023 14:06:45 -0800 |
| parents | |
| children | 696a46a1b239 |
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""" Copyright (c) 2020-2021 Alan Yorinks All rights reserved. This program is free software; you can redistribute it and/or modify it under the terms of the GNU AFFERO GENERAL PUBLIC LICENSE Version 3 as published by the Free Software Foundation; either or (at your option) any later version. This library is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU AFFERO GENERAL PUBLIC LICENSE along with this library; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA """ import asyncio # import socket # import struct import sys import time # noinspection PyPackageRequirementscd from serial.serialutil import SerialException # noinspection PyPackageRequirements from serial.tools import list_ports # noinspection PyUnresolvedReferences from telemetrix_aio.private_constants import PrivateConstants # noinspection PyUnresolvedReferences from telemetrix_aio.telemetrix_aio_socket import TelemetrixAioSocket # noinspection PyUnresolvedReferences from telemetrix_aio.telemtrix_aio_serial import TelemetrixAioSerial # noinspection GrazieInspection,PyArgumentList,PyMethodMayBeStatic,PyRedundantParentheses class TelemetrixAIO: """ This class exposes and implements the TelemetrixAIO API. It includes the public API methods as well as a set of private methods. This is an asyncio API. """ # noinspection PyPep8,PyPep8 def __init__(self, com_port=None, arduino_instance_id=1, arduino_wait=4, sleep_tune=0.0001, autostart=True, loop=None, shutdown_on_exception=True, close_loop_on_shutdown=True, ip_address=None, ip_port=31335): """ If you have a single Arduino connected to your computer, then you may accept all the default values. Otherwise, specify a unique arduino_instance id for each board in use. :param com_port: e.g. COM3 or /dev/ttyACM0. :param arduino_instance_id: Must match value in the Telemetrix4Arduino sketch :param arduino_wait: Amount of time to wait for an Arduino to fully reset itself. :param sleep_tune: A tuning parameter (typically not changed by user) :param autostart: If you wish to call the start method within your application, then set this to False. :param loop: optional user provided event loop :param shutdown_on_exception: call shutdown before raising a RunTimeError exception, or receiving a KeyboardInterrupt exception :param close_loop_on_shutdown: stop and close the event loop loop when a shutdown is called or a serial error occurs """ # check to make sure that Python interpreter is version 3.8.3 or greater python_version = sys.version_info if python_version[0] >= 3: if python_version[1] >= 8: if python_version[2] >= 3: pass else: raise RuntimeError("ERROR: Python 3.7 or greater is " "required for use of this program.") # save input parameters self.com_port = com_port self.arduino_instance_id = arduino_instance_id self.arduino_wait = arduino_wait self.sleep_tune = sleep_tune self.autostart = autostart self.ip_address = ip_address self.ip_port = ip_port # if tcp, this variable is set to the connected socket self.sock = None # set the event loop if loop is None: self.loop = asyncio.get_event_loop() else: self.loop = loop self.shutdown_on_exception = shutdown_on_exception self.close_loop_on_shutdown = close_loop_on_shutdown # dictionaries to store the callbacks for each pin self.analog_callbacks = {} self.digital_callbacks = {} self.i2c_callback = None self.i2c_callback2 = None self.i2c_1_active = False self.i2c_2_active = False self.spi_callback = None self.onewire_callback = None # debug loopback callback method self.loop_back_callback = None # the trigger pin will be the key to retrieve # the callback for a specific HC-SR04 self.sonar_callbacks = {} self.sonar_count = 0 self.dht_callbacks = {} self.dht_count = 0 # serial port in use self.serial_port = None # generic asyncio task holder self.the_task = None # flag to indicate we are in shutdown mode self.shutdown_flag = False self.report_dispatch = {} # reported features self.reported_features = 0 # To add a command to the command dispatch table, append here. self.report_dispatch.update( {PrivateConstants.LOOP_COMMAND: self._report_loop_data}) self.report_dispatch.update( {PrivateConstants.DEBUG_PRINT: self._report_debug_data}) self.report_dispatch.update( {PrivateConstants.DIGITAL_REPORT: self._digital_message}) self.report_dispatch.update( {PrivateConstants.ANALOG_REPORT: self._analog_message}) self.report_dispatch.update( {PrivateConstants.SERVO_UNAVAILABLE: self._servo_unavailable}) self.report_dispatch.update( {PrivateConstants.I2C_READ_REPORT: self._i2c_read_report}) self.report_dispatch.update( {PrivateConstants.I2C_TOO_FEW_BYTES_RCVD: self._i2c_too_few}) self.report_dispatch.update( {PrivateConstants.I2C_TOO_MANY_BYTES_RCVD: self._i2c_too_many}) self.report_dispatch.update( {PrivateConstants.SONAR_DISTANCE: self._sonar_distance_report}) self.report_dispatch.update({PrivateConstants.DHT_REPORT: self._dht_report}) self.report_dispatch.update( {PrivateConstants.SPI_REPORT: self._spi_report}) self.report_dispatch.update( {PrivateConstants.ONE_WIRE_REPORT: self._onewire_report}) self.report_dispatch.update( {PrivateConstants.STEPPER_DISTANCE_TO_GO: self._stepper_distance_to_go_report}) self.report_dispatch.update( {PrivateConstants.STEPPER_TARGET_POSITION: self._stepper_target_position_report}) self.report_dispatch.update( {PrivateConstants.STEPPER_CURRENT_POSITION: self._stepper_current_position_report}) self.report_dispatch.update( {PrivateConstants.STEPPER_RUNNING_REPORT: self._stepper_is_running_report}) self.report_dispatch.update( {PrivateConstants.STEPPER_RUN_COMPLETE_REPORT: self._stepper_run_complete_report}) self.report_dispatch.update( {PrivateConstants.STEPPER_DISTANCE_TO_GO: self._stepper_distance_to_go_report}) self.report_dispatch.update( {PrivateConstants.STEPPER_TARGET_POSITION: self._stepper_target_position_report}) self.report_dispatch.update( {PrivateConstants.FEATURES: self._features_report}) # dictionaries to store the callbacks for each pin self.analog_callbacks = {} self.digital_callbacks = {} self.i2c_callback = None self.i2c_callback2 = None self.i2c_1_active = False self.i2c_2_active = False self.spi_callback = None self.onewire_callback = None self.cs_pins_enabled = [] # flag to indicate if spi is initialized self.spi_enabled = False # flag to indicate if onewire is initialized self.onewire_enabled = False # the trigger pin will be the key to retrieve # the callback for a specific HC-SR04 self.sonar_callbacks = {} self.sonar_count = 0 self.dht_callbacks = {} # stepper motor variables # updated when a new motor is added self.next_stepper_assigned = 0 # valid list of stepper motor interface types self.valid_stepper_interfaces = [1, 2, 3, 4, 6, 8] # maximum number of steppers supported self.max_number_of_steppers = 4 # number of steppers created - not to exceed the maximum self.number_of_steppers = 0 # dictionary to hold stepper motor information self.stepper_info = {'instance': False, 'is_running': None, 'maximum_speed': 1, 'speed': 0, 'acceleration': 0, 'distance_to_go_callback': None, 'target_position_callback': None, 'current_position_callback': None, 'is_running_callback': None, 'motion_complete_callback': None, 'acceleration_callback': None} # build a list of stepper motor info items self.stepper_info_list = [] # a list of dictionaries to hold stepper information for motor in range(self.max_number_of_steppers): self.stepper_info_list.append(self.stepper_info) print(f'TelemetrixAIO Version: {PrivateConstants.TELEMETRIX_AIO_VERSION}') print(f'Copyright (c) 2018-2021 Alan Yorinks All rights reserved.\n') if autostart: self.loop.run_until_complete(self.start_aio()) async def start_aio(self): """ This method may be called directly, if the autostart parameter in __init__ is set to false. This method instantiates the serial interface and then performs auto pin discovery if using a serial interface, or creates and connects to a TCP/IP enabled device running StandardFirmataWiFi. Use this method if you wish to start TelemetrixAIO manually from an asyncio function. """ if not self.ip_address: if not self.com_port: # user did not specify a com_port try: await self._find_arduino() except KeyboardInterrupt: if self.shutdown_on_exception: await self.shutdown() else: # com_port specified - set com_port and baud rate try: await self._manual_open() except KeyboardInterrupt: if self.shutdown_on_exception: await self.shutdown() if self.com_port: print(f'Telemetrix4AIO found and connected to {self.com_port}') # no com_port found - raise a runtime exception else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('No Arduino Found or User Aborted Program') # using tcp/ip else: self.sock = TelemetrixAioSocket(self.ip_address, self.ip_port, self.loop) await self.sock.start() # self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM) # self.sock.connect((self.ip_address, self.ip_port)) # print(f'Successfully connected to: {self.ip_address}:{self.ip_port}') # get arduino firmware version and print it firmware_version = await self._get_firmware_version() if not firmware_version: print('*** Firmware Version retrieval timed out. ***') print('\nDo you have Arduino connectivity and do you have the ') print('Telemetrix4Arduino sketch uploaded to the board and are connected') print('to the correct serial port.\n') print('To see a list of serial ports, type: ' '"list_serial_ports" in your console.') if self.shutdown_on_exception: await self.shutdown() raise RuntimeError else: if firmware_version[2] < 5: raise RuntimeError('Please upgrade the server firmware to version 5.0.0 or greater') print(f'Telemetrix4Arduino Version Number: {firmware_version[2]}.' f'{firmware_version[3]}.{firmware_version[4]}') # start the command dispatcher loop command = [PrivateConstants.ENABLE_ALL_REPORTS] await self._send_command(command) if not self.loop: self.loop = asyncio.get_event_loop() self.the_task = self.loop.create_task(self._arduino_report_dispatcher()) # get the features list command = [PrivateConstants.GET_FEATURES] await self._send_command(command) time.sleep(.5) # Have the server reset its data structures command = [PrivateConstants.RESET] await self._send_command(command) async def get_event_loop(self): """ Return the currently active asyncio event loop :return: Active event loop """ return self.loop async def _find_arduino(self): """ This method will search all potential serial ports for an Arduino containing a sketch that has a matching arduino_instance_id as specified in the input parameters of this class. This is used explicitly with the FirmataExpress sketch. """ # a list of serial ports to be checked serial_ports = [] print('Opening all potential serial ports...') the_ports_list = list_ports.comports() for port in the_ports_list: if port.pid is None: continue print('\nChecking {}'.format(port.device)) try: self.serial_port = TelemetrixAioSerial(port.device, 115200, telemetrix_aio_instance=self, close_loop_on_error=self.close_loop_on_shutdown) except SerialException: continue # create a list of serial ports that we opened serial_ports.append(self.serial_port) # display to the user print('\t' + port.device) # clear out any possible data in the input buffer await self.serial_port.reset_input_buffer() # wait for arduino to reset print('\nWaiting {} seconds(arduino_wait) for Arduino devices to ' 'reset...'.format(self.arduino_wait)) await asyncio.sleep(self.arduino_wait) print('\nSearching for an Arduino configured with an arduino_instance = ', self.arduino_instance_id) for serial_port in serial_ports: self.serial_port = serial_port command = [PrivateConstants.ARE_U_THERE] await self._send_command(command) # provide time for the reply await asyncio.sleep(.1) i_am_here = await self.serial_port.read(3) if not i_am_here: continue # got an I am here message - is it the correct ID? if i_am_here[2] == self.arduino_instance_id: self.com_port = serial_port.com_port return async def _manual_open(self): """ Com port was specified by the user - try to open up that port """ # if port is not found, a serial exception will be thrown print('Opening {} ...'.format(self.com_port)) self.serial_port = TelemetrixAioSerial(self.com_port, 115200, telemetrix_aio_instance=self, close_loop_on_error=self.close_loop_on_shutdown) print('Waiting {} seconds for the Arduino To Reset.' .format(self.arduino_wait)) await asyncio.sleep(self.arduino_wait) command = [PrivateConstants.ARE_U_THERE] await self._send_command(command) # provide time for the reply await asyncio.sleep(.1) print(f'Searching for correct arduino_instance_id: {self.arduino_instance_id}') i_am_here = await self.serial_port.read(3) if not i_am_here: print(f'ERROR: correct arduino_instance_id not found') print('Correct arduino_instance_id found') async def _get_firmware_version(self): """ This method retrieves the Arduino4Telemetrix firmware version :returns: Firmata firmware version """ command = [PrivateConstants.GET_FIRMWARE_VERSION] await self._send_command(command) # provide time for the reply await asyncio.sleep(.1) if not self.ip_address: firmware_version = await self.serial_port.read(5) else: firmware_version = list(await self.sock.read(5)) return firmware_version async def analog_write(self, pin, value): """ Set the specified pin to the specified value. :param pin: arduino pin number :param value: pin value (maximum 16 bits) """ value_msb = value >> 8 value_lsb = value & 0xff command = [PrivateConstants.ANALOG_WRITE, pin, value_msb, value_lsb] await self._send_command(command) async def digital_write(self, pin, value): """ Set the specified pin to the specified value. :param pin: arduino pin number :param value: pin value (1 or 0) """ command = [PrivateConstants.DIGITAL_WRITE, pin, value] await self._send_command(command) async def i2c_read(self, address, register, number_of_bytes, callback, i2c_port=0, write_register=True): """ Read the specified number of bytes from the specified register for the i2c device. :param address: i2c device address :param register: i2c register (or None if no register selection is needed) :param number_of_bytes: number of bytes to be read :param callback: Required callback function to report i2c data as a result of read command :param i2c_port: select the default port (0) or secondary port (1) :param write_register: If True, the register is written before read Else, the write is suppressed callback returns a data list: [I2C_READ_REPORT, address, register, count of data bytes, data bytes, time-stamp] """ if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('i2c_read: A Callback must be specified') await self._i2c_read_request(address, register, number_of_bytes, callback=callback, i2c_port=i2c_port, write_register=write_register) async def i2c_read_restart_transmission(self, address, register, number_of_bytes, callback, i2c_port=0, write_register=True): """ Read the specified number of bytes from the specified register for the i2c device. This restarts the transmission after the read. It is required for some i2c devices such as the MMA8452Q accelerometer. :param address: i2c device address :param register: i2c register (or None if no register selection is needed) :param number_of_bytes: number of bytes to be read :param callback: Required callback function to report i2c data as a result of read command :param i2c_port: select the default port (0) or secondary port (1) :param write_register: If True, the register is written before read Else, the write is suppressed callback returns a data list: [I2C_READ_REPORT, address, register, count of data bytes, data bytes, time-stamp] """ if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'i2c_read_restart_transmission: A Callback must be specified') await self._i2c_read_request(address, register, number_of_bytes, stop_transmission=False, callback=callback, i2c_port=i2c_port, write_register=write_register) async def _i2c_read_request(self, address, register, number_of_bytes, stop_transmission=True, callback=None, i2c_port=0, write_register=True): """ This method requests the read of an i2c device. Results are retrieved via callback. :param address: i2c device address :param register: register number (or None if no register selection is needed) :param number_of_bytes: number of bytes expected to be returned :param stop_transmission: stop transmission after read :param callback: Required callback function to report i2c data as a result of read command. :param i2c_port: select the default port (0) or secondary port (1) :param write_register: If True, the register is written before read Else, the write is suppressed """ if not i2c_port: if not self.i2c_1_active: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'I2C Read: set_pin_mode i2c never called for i2c port 1.') if i2c_port: if not self.i2c_2_active: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'I2C Read: set_pin_mode i2c never called for i2c port 2.') if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('I2C Read: A callback function must be specified.') if not i2c_port: self.i2c_callback = callback else: self.i2c_callback2 = callback if not register: register = 0 if write_register: write_register = 1 else: write_register = 0 # message contains: # 1. address # 2. register # 3. number of bytes # 4. restart_transmission - True or False # 5. i2c port # 6. suppress write flag command = [PrivateConstants.I2C_READ, address, register, number_of_bytes, stop_transmission, i2c_port, write_register] await self._send_command(command) async def i2c_write(self, address, args, i2c_port=0): """ Write data to an i2c device. :param address: i2c device address :param i2c_port: 0= port 1, 1 = port 2 :param args: A variable number of bytes to be sent to the device passed in as a list """ if not i2c_port: if not self.i2c_1_active: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'I2C Write: set_pin_mode i2c never called for i2c port 1.') if i2c_port: if not self.i2c_2_active: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'I2C Write: set_pin_mode i2c never called for i2c port 2.') command = [PrivateConstants.I2C_WRITE, len(args), address, i2c_port] for item in args: command.append(item) await self._send_command(command) async def loop_back(self, start_character, callback): """ This is a debugging method to send a character to the Arduino device, and have the device loop it back. :param start_character: The character to loop back. It should be an integer. :param callback: Looped back character will appear in the callback method """ if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('loop_back: A callback function must be specified.') command = [PrivateConstants.LOOP_COMMAND, ord(start_character)] self.loop_back_callback = callback await self._send_command(command) async def set_analog_scan_interval(self, interval): """ Set the analog scanning interval. :param interval: value of 0 - 255 - milliseconds """ if 0 <= interval <= 255: command = [PrivateConstants.SET_ANALOG_SCANNING_INTERVAL, interval] await self._send_command(command) else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('Analog interval must be between 0 and 255') async def set_pin_mode_analog_input(self, pin_number, differential=0, callback=None): """ Set a pin as an analog input. :param pin_number: arduino pin number :param callback: async callback function :param differential: difference in previous to current value before report will be generated callback returns a data list: [pin_type, pin_number, pin_value, raw_time_stamp] The pin_type for analog input pins = 2 """ if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'set_pin_mode_analog_input: A callback function must be specified.') await self._set_pin_mode(pin_number, PrivateConstants.AT_ANALOG, differential, callback=callback) async def set_pin_mode_analog_output(self, pin_number): """ Set a pin as a pwm (analog output) pin. :param pin_number:arduino pin number """ await self._set_pin_mode(pin_number, PrivateConstants.AT_OUTPUT, differential=0, callback=None) async def set_pin_mode_digital_input(self, pin_number, callback): """ Set a pin as a digital input. :param pin_number: arduino pin number :param callback: async callback function callback returns a data list: [pin_type, pin_number, pin_value, raw_time_stamp] The pin_type for digital input pins = 0 """ await self._set_pin_mode(pin_number, PrivateConstants.AT_INPUT, differential=0, callback=callback) async def set_pin_mode_digital_input_pullup(self, pin_number, callback): """ Set a pin as a digital input with pullup enabled. :param pin_number: arduino pin number :param callback: async callback function callback returns a data list: [pin_type, pin_number, pin_value, raw_time_stamp] The pin_type for digital input pins with pullups enabled = 11 """ if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'set_pin_mode_digital_input_pullup: A callback function must be specified.') await self._set_pin_mode(pin_number, PrivateConstants.AT_INPUT_PULLUP, differential=0, callback=callback) async def set_pin_mode_digital_output(self, pin_number): """ Set a pin as a digital output pin. :param pin_number: arduino pin number """ await self._set_pin_mode(pin_number, PrivateConstants.AT_OUTPUT, differential=0, callback=None) # noinspection PyIncorrectDocstring async def set_pin_mode_i2c(self, i2c_port=0): """ Establish the standard Arduino i2c pins for i2c utilization. :param i2c_port: 0 = i2c1, 1 = i2c2 NOTES: 1. THIS METHOD MUST BE CALLED BEFORE ANY I2C REQUEST IS MADE 2. Callbacks are set within the individual i2c read methods of this API. See i2c_read, or i2c_read_restart_transmission. """ # test for i2c port 2 if i2c_port: # if not previously activated set it to activated # and the send a begin message for this port if not self.i2c_2_active: self.i2c_2_active = True else: return # port 1 else: if not self.i2c_1_active: self.i2c_1_active = True else: return command = [PrivateConstants.I2C_BEGIN, i2c_port] await self._send_command(command) async def set_pin_mode_dht(self, pin, callback=None, dht_type=22): """ :param pin: connection pin :param callback: callback function :param dht_type: either 22 for DHT22 or 11 for DHT11 Error Callback: [DHT REPORT Type, DHT_ERROR_NUMBER, PIN, DHT_TYPE, Time] Valid Data Callback: DHT REPORT Type, DHT_DATA=, PIN, DHT_TYPE, Humidity, Temperature, Time] """ if self.reported_features & PrivateConstants.DHT_FEATURE: if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('set_pin_mode_dht: A Callback must be specified') if self.dht_count < PrivateConstants.MAX_DHTS - 1: self.dht_callbacks[pin] = callback self.dht_count += 1 if dht_type != 22 and dht_type != 11: dht_type = 22 command = [PrivateConstants.DHT_NEW, pin, dht_type] await self._send_command(command) else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( f'Maximum Number Of DHTs Exceeded - set_pin_mode_dht fails for pin {pin}') else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'The DHT feature is disabled in the server.') async def set_pin_mode_servo(self, pin_number, min_pulse=544, max_pulse=2400): """ Attach a pin to a servo motor :param pin_number: pin :param min_pulse: minimum pulse width :param max_pulse: maximum pulse width """ if self.reported_features & PrivateConstants.SERVO_FEATURE: minv = (min_pulse).to_bytes(2, byteorder="big") maxv = (max_pulse).to_bytes(2, byteorder="big") command = [PrivateConstants.SERVO_ATTACH, pin_number, minv[0], minv[1], maxv[0], maxv[1]] await self._send_command(command) else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'The SERVO feature is disabled in the server.') async def set_pin_mode_sonar(self, trigger_pin, echo_pin, callback): """ :param trigger_pin: :param echo_pin: :param callback: callback """ if self.reported_features & PrivateConstants.SONAR_FEATURE: if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('set_pin_mode_sonar: A Callback must be specified') if self.sonar_count < PrivateConstants.MAX_SONARS - 1: self.sonar_callbacks[trigger_pin] = callback self.sonar_count += 1 command = [PrivateConstants.SONAR_NEW, trigger_pin, echo_pin] await self._send_command(command) else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( f'Maximum Number Of Sonars Exceeded - set_pin_mode_sonar fails for pin {trigger_pin}') else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'The SONAR feature is disabled in the server.') async def set_pin_mode_spi(self, chip_select_list=None): """ Specify the list of chip select pins. Standard Arduino MISO, MOSI and CLK pins are used for the board in use. Chip Select is any digital output capable pin. :param chip_select_list: this is a list of pins to be used for chip select. The pins will be configured as output, and set to high ready to be used for chip select. NOTE: You must specify the chips select pins here! command message: [command, number of cs pins, [cs pins...]] """ if self.reported_features & PrivateConstants.SPI_FEATURE: if type(chip_select_list) != list: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('chip_select_list must be in the form of a list') if not chip_select_list: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('Chip select pins were not specified') self.spi_enabled = True command = [PrivateConstants.SPI_INIT, len(chip_select_list)] for pin in chip_select_list: command.append(pin) self.cs_pins_enabled.append(pin) await self._send_command(command) else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'The SPI feature is disabled in the server.') async def set_pin_mode_stepper(self, interface=1, pin1=2, pin2=3, pin3=4, pin4=5, enable=True): """ Stepper motor support is implemented as a proxy for the the AccelStepper library for the Arduino. https://github.com/waspinator/AccelStepper Instantiate a stepper motor. Initialize the interface and pins for a stepper motor. :param interface: Motor Interface Type: 1 = Stepper Driver, 2 driver pins required 2 = FULL2WIRE 2 wire stepper, 2 motor pins required 3 = FULL3WIRE 3 wire stepper, such as HDD spindle, 3 motor pins required 4 = FULL4WIRE, 4 wire full stepper, 4 motor pins required 6 = HALF3WIRE, 3 wire half stepper, such as HDD spindle, 3 motor pins required 8 = HALF4WIRE, 4 wire half stepper, 4 motor pins required :param pin1: Arduino digital pin number for motor pin 1 :param pin2: Arduino digital pin number for motor pin 2 :param pin3: Arduino digital pin number for motor pin 3 :param pin4: Arduino digital pin number for motor pin 4 :param enable: If this is true, the output pins at construction time. :return: Motor Reference number """ if self.reported_features & PrivateConstants.STEPPERS_FEATURE: if self.number_of_steppers == self.max_number_of_steppers: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('Maximum number of steppers has already been assigned') if interface not in self.valid_stepper_interfaces: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('Invalid stepper interface') self.number_of_steppers += 1 motor_id = self.next_stepper_assigned self.next_stepper_assigned += 1 self.stepper_info_list[motor_id]['instance'] = True # build message and send message to server command = [PrivateConstants.SET_PIN_MODE_STEPPER, motor_id, interface, pin1, pin2, pin3, pin4, enable] await self._send_command(command) # return motor id return motor_id else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'The Stepper feature is disabled in the server.') async def spi_cs_control(self, chip_select_pin, select): """ Control an SPI chip select line :param chip_select_pin: pin connected to CS :param select: 0=select, 1=deselect """ if not self.spi_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'spi_cs_control: SPI interface is not enabled.') if chip_select_pin not in self.cs_pins_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'spi_cs_control: chip select pin never enabled.') command = [PrivateConstants.SPI_CS_CONTROL, chip_select_pin, select] await self._send_command(command) async def spi_read_blocking(self, register_selection, number_of_bytes_to_read, call_back=None): """ Read the specified number of bytes from the specified SPI port and call the callback function with the reported data. :param register_selection: Register to be selected for read. :param number_of_bytes_to_read: Number of bytes to read :param call_back: Required callback function to report spi data as a result of read command callback returns a data list: [SPI_READ_REPORT, count of data bytes read, data bytes, time-stamp] SPI_READ_REPORT = 13 """ if not self.spi_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'spi_read_blocking: SPI interface is not enabled.') if not call_back: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('spi_read_blocking: A Callback must be specified') self.spi_callback = call_back command = [PrivateConstants.SPI_READ_BLOCKING, number_of_bytes_to_read, register_selection] await self._send_command(command) async def spi_set_format(self, clock_divisor, bit_order, data_mode): """ Configure how the SPI serializes and de-serializes data on the wire. See Arduino SPI reference materials for details. :param clock_divisor: :param bit_order: LSBFIRST = 0 MSBFIRST = 1 (default) :param data_mode: SPI_MODE0 = 0x00 (default) SPI_MODE1 = 0x04 SPI_MODE2 = 0x08 SPI_MODE3 = 0x0C """ if not self.spi_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'spi_set_format: SPI interface is not enabled.') command = [PrivateConstants.SPI_SET_FORMAT, clock_divisor, bit_order, data_mode] await self._send_command(command) async def spi_write_blocking(self, bytes_to_write): """ Write a list of bytes to the SPI device. :param bytes_to_write: A list of bytes to write. This must be in the form of a list. """ if not self.spi_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'spi_write_blocking: SPI interface is not enabled.') if type(bytes_to_write) is not list: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('spi_write_blocking: bytes_to_write must be a list.') command = [PrivateConstants.SPI_WRITE_BLOCKING, len(bytes_to_write)] for data in bytes_to_write: command.append(data) await self._send_command(command) async def set_pin_mode_one_wire(self, pin): """ Initialize the one wire serial bus. :param pin: Data pin connected to the OneWire device """ self.onewire_enabled = True command = [PrivateConstants.ONE_WIRE_INIT, pin] await self._send_command(command) async def onewire_reset(self, callback=None): """ Reset the onewire device :param callback: required function to report reset result callback returns a list: [ReportType = 14, Report Subtype = 25, reset result byte, timestamp] """ if not self.onewire_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'onewire_reset: OneWire interface is not enabled.') if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('onewire_reset: A Callback must be specified') self.onewire_callback = callback command = [PrivateConstants.ONE_WIRE_RESET] await self._send_command(command) async def onewire_select(self, device_address): """ Select a device based on its address :param device_address: A bytearray of 8 bytes """ if not self.onewire_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'onewire_select: OneWire interface is not enabled.') if type(device_address) is not list: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('onewire_select: device address must be an array of 8 ' 'bytes.') if len(device_address) != 8: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('onewire_select: device address must be an array of 8 ' 'bytes.') command = [PrivateConstants.ONE_WIRE_SELECT] for data in device_address: command.append(data) await self._send_command(command) async def onewire_skip(self): """ Skip the device selection. This only works if you have a single device, but you can avoid searching and use this to immediately access your device. """ if not self.onewire_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'onewire_skip: OneWire interface is not enabled.') command = [PrivateConstants.ONE_WIRE_SKIP] await self._send_command(command) async def onewire_write(self, data, power=0): """ Write a byte to the onewire device. If 'power' is one then the wire is held high at the end for parasitically powered devices. You are responsible for eventually de-powering it by calling another read or write. :param data: byte to write. :param power: power control (see above) """ if not self.onewire_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'onewire_write: OneWire interface is not enabled.') if 0 < data < 255: command = [PrivateConstants.ONE_WIRE_WRITE, data, power] await self._send_command(command) else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('onewire_write: Data must be no larger than 255') async def onewire_read(self, callback=None): """ Read a byte from the onewire device :param callback: required function to report onewire data as a result of read command callback returns a data list: [ONEWIRE_REPORT, ONEWIRE_READ=29, data byte, time-stamp] ONEWIRE_REPORT = 14 """ if not self.onewire_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'onewire_read: OneWire interface is not enabled.') if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('onewire_read A Callback must be specified') self.onewire_callback = callback command = [PrivateConstants.ONE_WIRE_READ] await self._send_command(command) async def onewire_reset_search(self): """ Begin a new search. The next use of search will begin at the first device """ if not self.onewire_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'onewire_reset_search: OneWire interface is not ' f'enabled.') else: command = [PrivateConstants.ONE_WIRE_RESET_SEARCH] await self._send_command(command) async def onewire_search(self, callback=None): """ Search for the next device. The device address will returned in the callback. If a device is found, the 8 byte address is contained in the callback. If no more devices are found, the address returned contains all elements set to 0xff. :param callback: required function to report a onewire device address callback returns a data list: [ONEWIRE_REPORT, ONEWIRE_SEARCH=31, 8 byte address, time-stamp] ONEWIRE_REPORT = 14 """ if not self.onewire_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'onewire_search: OneWire interface is not enabled.') if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('onewire_read A Callback must be specified') self.onewire_callback = callback command = [PrivateConstants.ONE_WIRE_SEARCH] await self._send_command(command) async def onewire_crc8(self, address_list, callback=None): """ Compute a CRC check on an array of data. :param address_list: :param callback: required function to report a onewire device address callback returns a data list: [ONEWIRE_REPORT, ONEWIRE_CRC8=32, CRC, time-stamp] ONEWIRE_REPORT = 14 """ if not self.onewire_enabled: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError(f'onewire_crc8: OneWire interface is not enabled.') if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('onewire_crc8 A Callback must be specified') if type(address_list) is not list: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('onewire_crc8: address list must be a list.') self.onewire_callback = callback address_length = len(address_list) command = [PrivateConstants.ONE_WIRE_CRC8, address_length - 1] for data in address_list: command.append(data) await self._send_command(command) async def _set_pin_mode(self, pin_number, pin_state, differential, callback): """ A private method to set the various pin modes. :param pin_number: arduino pin number :param pin_state: INPUT/OUTPUT/ANALOG/PWM/PULLUP - for SERVO use servo_config() For DHT use: set_pin_mode_dht :param differential: for analog inputs - threshold value to be achieved for report to be generated :param callback: A reference to an async call back function to be called when pin data value changes """ if not callback and pin_state != PrivateConstants.AT_OUTPUT: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('_set_pin_mode: A Callback must be specified') else: if pin_state == PrivateConstants.AT_INPUT: command = [PrivateConstants.SET_PIN_MODE, pin_number, PrivateConstants.AT_INPUT, 1] self.digital_callbacks[pin_number] = callback elif pin_state == PrivateConstants.AT_INPUT_PULLUP: command = [PrivateConstants.SET_PIN_MODE, pin_number, PrivateConstants.AT_INPUT_PULLUP, 1] self.digital_callbacks[pin_number] = callback elif pin_state == PrivateConstants.AT_ANALOG: command = [PrivateConstants.SET_PIN_MODE, pin_number, PrivateConstants.AT_ANALOG, differential >> 8, differential & 0xff, 1] self.analog_callbacks[pin_number] = callback elif pin_state == PrivateConstants.AT_OUTPUT: command = [PrivateConstants.SET_PIN_MODE, pin_number, PrivateConstants.AT_OUTPUT, 1] else: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('Unknown pin state') if command: await self._send_command(command) await asyncio.sleep(.05) async def servo_detach(self, pin_number): """ Detach a servo for reuse :param pin_number: attached pin """ command = [PrivateConstants.SERVO_DETACH, pin_number] await self._send_command(command) async def servo_write(self, pin_number, angle): """ Set a servo attached to a pin to a given angle. :param pin_number: pin :param angle: angle (0-180) """ command = [PrivateConstants.SERVO_WRITE, pin_number, angle] await self._send_command(command) async def stepper_move_to(self, motor_id, position): """ Set an absolution target position. If position is positive, the movement is clockwise, else it is counter-clockwise. The run() function (below) will try to move the motor (at most one step per call) from the current position to the target position set by the most recent call to this function. Caution: moveTo() also recalculates the speed for the next step. If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo(). :param motor_id: motor id: 0 - 3 :param position: target position. Maximum value is 32 bits. """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_move_to: Invalid motor_id.') if position < 0: polarity = 1 else: polarity = 0 position = abs(position) position_bytes = list(position.to_bytes(4, 'big', signed=True)) command = [PrivateConstants.STEPPER_MOVE_TO, motor_id] for value in position_bytes: command.append(value) command.append(polarity) await self._send_command(command) async def stepper_move(self, motor_id, relative_position): """ Set the target position relative to the current position. :param motor_id: motor id: 0 - 3 :param relative_position: The desired position relative to the current position. Negative is anticlockwise from the current position. Maximum value is 32 bits. """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_move: Invalid motor_id.') if relative_position < 0: polarity = 1 else: polarity = 0 position = abs(relative_position) position_bytes = list(position.to_bytes(4, 'big', signed=True)) command = [PrivateConstants.STEPPER_MOVE, motor_id] for value in position_bytes: command.append(value) command.append(polarity) await self._send_command(command) async def stepper_run(self, motor_id, completion_callback=None): """ This method steps the selected motor based on the current speed. Once called, the server will continuously attempt to step the motor. :param motor_id: 0 - 3 :param completion_callback: call back function to receive motion complete notification callback returns a data list: [report_type, motor_id, raw_time_stamp] The report_type = 19 """ if not completion_callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_run: A motion complete callback must be ' 'specified.') if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_run: Invalid motor_id.') self.stepper_info_list[motor_id]['motion_complete_callback'] = completion_callback command = [PrivateConstants.STEPPER_RUN, motor_id] await self._send_command(command) async def stepper_run_speed(self, motor_id): """ This method steps the selected motor based at a constant speed as set by the most recent call to stepper_set_max_speed(). The motor will run continuously. Once called, the server will continuously attempt to step the motor. :param motor_id: 0 - 3 """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_run_speed: Invalid motor_id.') command = [PrivateConstants.STEPPER_RUN_SPEED, motor_id] await self._send_command(command) async def stepper_set_max_speed(self, motor_id, max_speed): """ Sets the maximum permitted speed. The stepper_run() function will accelerate up to the speed set by this function. Caution: the maximum speed achievable depends on your processor and clock speed. The default maxSpeed is 1 step per second. Caution: Speeds that exceed the maximum speed supported by the processor may result in non-linear accelerations and decelerations. :param motor_id: 0 - 3 :param max_speed: 1 - 1000 """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_max_speed: Invalid motor_id.') if not 1 < max_speed <= 1000: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_max_speed: Speed range is 1 - 1000.') self.stepper_info_list[motor_id]['max_speed'] = max_speed max_speed_msb = (max_speed & 0xff00) >> 8 max_speed_lsb = max_speed & 0xff command = [PrivateConstants.STEPPER_SET_MAX_SPEED, motor_id, max_speed_msb, max_speed_lsb] await self._send_command(command) async def stepper_get_max_speed(self, motor_id): """ Returns the maximum speed configured for this stepper that was previously set by stepper_set_max_speed() Value is stored in the client, so no callback is required. :param motor_id: 0 - 3 :return: The currently configured maximum speed. """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_max_speed: Invalid motor_id.') return self.stepper_info_list[motor_id]['max_speed'] async def stepper_set_acceleration(self, motor_id, acceleration): """ Sets the acceleration/deceleration rate. :param motor_id: 0 - 3 :param acceleration: The desired acceleration in steps per second per second. Must be > 0.0. This is an expensive call since it requires a square root to be calculated on the server. Dont call more often than needed. """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_acceleration: Invalid motor_id.') if not 1 < acceleration <= 1000: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_acceleration: Acceleration range is 1 - ' '1000.') self.stepper_info_list[motor_id]['acceleration'] = acceleration max_accel_msb = acceleration >> 8 max_accel_lsb = acceleration & 0xff command = [PrivateConstants.STEPPER_SET_ACCELERATION, motor_id, max_accel_msb, max_accel_lsb] await self._send_command(command) async def stepper_set_speed(self, motor_id, speed): """ Sets the desired constant speed for use with stepper_run_speed(). :param motor_id: 0 - 3 :param speed: 0 - 1000 The desired constant speed in steps per second. Positive is clockwise. Speeds of more than 1000 steps per second are unreliable. Speed accuracy depends on the Arduino crystal. Jitter depends on how frequently you call the stepper_run_speed() method. The speed will be limited by the current value of stepper_set_max_speed(). """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_speed: Invalid motor_id.') if not 0 < speed <= 1000: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_speed: Speed range is 0 - ' '1000.') self.stepper_info_list[motor_id]['speed'] = speed speed_msb = speed >> 8 speed_lsb = speed & 0xff command = [PrivateConstants.STEPPER_SET_SPEED, motor_id, speed_msb, speed_lsb] await self._send_command(command) async def stepper_get_speed(self, motor_id): """ Returns the most recently set speed. that was previously set by stepper_set_speed(); Value is stored in the client, so no callback is required. :param motor_id: 0 - 3 """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_get_speed: Invalid motor_id.') return self.stepper_info_list[motor_id]['speed'] async def stepper_get_distance_to_go(self, motor_id, distance_to_go_callback): """ Request the distance from the current position to the target position from the server. :param motor_id: 0 - 3 :param distance_to_go_callback: required callback function to receive report :return: The distance to go is returned via the callback as a list: [REPORT_TYPE=15, motor_id, distance in steps, time_stamp] A positive distance is clockwise from the current position. """ if not distance_to_go_callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_get_distance_to_go Read: A callback function must be specified.') if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_get_distance_to_go: Invalid motor_id.') self.stepper_info_list[motor_id][ 'distance_to_go_callback'] = distance_to_go_callback command = [PrivateConstants.STEPPER_GET_DISTANCE_TO_GO, motor_id] await self._send_command(command) async def stepper_get_target_position(self, motor_id, target_callback): """ Request the most recently set target position from the server. :param motor_id: 0 - 3 :param target_callback: required callback function to receive report :return: The distance to go is returned via the callback as a list: [REPORT_TYPE=16, motor_id, target position in steps, time_stamp] Positive is clockwise from the 0 position. """ if not target_callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'stepper_get_target_position Read: A callback function must be specified.') if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_get_target_position: Invalid motor_id.') self.stepper_info_list[motor_id][ 'target_position_callback'] = target_callback command = [PrivateConstants.STEPPER_GET_TARGET_POSITION, motor_id] await self._send_command(command) async def stepper_get_current_position(self, motor_id, current_position_callback): """ Request the current motor position from the server. :param motor_id: 0 - 3 :param current_position_callback: required callback function to receive report :return: The current motor position returned via the callback as a list: [REPORT_TYPE=17, motor_id, current position in steps, time_stamp] Positive is clockwise from the 0 position. """ if not current_position_callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'stepper_get_current_position Read: A callback function must be specified.') if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_get_current_position: Invalid motor_id.') self.stepper_info_list[motor_id]['current_position_callback'] = current_position_callback command = [PrivateConstants.STEPPER_GET_CURRENT_POSITION, motor_id] await self._send_command(command) async def stepper_set_current_position(self, motor_id, position): """ Resets the current position of the motor, so that wherever the motor happens to be right now is considered to be the new 0 position. Useful for setting a zero position on a stepper after an initial hardware positioning move. Has the side effect of setting the current motor speed to 0. :param motor_id: 0 - 3 :param position: Position in steps. This is a 32 bit value """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_current_position: Invalid motor_id.') position_bytes = list(position.to_bytes(4, 'big', signed=True)) command = [PrivateConstants.STEPPER_SET_CURRENT_POSITION, motor_id] for value in position_bytes: command.append(value) await self._send_command(command) async def stepper_run_speed_to_position(self, motor_id, completion_callback=None): """ Runs the motor at the currently selected speed until the target position is reached. Does not implement accelerations. :param motor_id: 0 - 3 :param completion_callback: call back function to receive motion complete notification callback returns a data list: [report_type, motor_id, raw_time_stamp] The report_type = 19 """ if not completion_callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_run_speed_to_position: A motion complete ' 'callback must be ' 'specified.') if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_run_speed_to_position: Invalid motor_id.') self.stepper_info_list[motor_id]['motion_complete_callback'] = completion_callback command = [PrivateConstants.STEPPER_RUN_SPEED_TO_POSITION, motor_id] await self._send_command(command) async def stepper_stop(self, motor_id): """ Sets a new target position that causes the stepper to stop as quickly as possible, using the current speed and acceleration parameters. :param motor_id: 0 - 3 """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_stop: Invalid motor_id.') command = [PrivateConstants.STEPPER_STOP, motor_id] await self._send_command(command) async def stepper_disable_outputs(self, motor_id): """ Disable motor pin outputs by setting them all LOW. Depending on the design of your electronics this may turn off the power to the motor coils, saving power. This is useful to support Arduino low power modes: disable the outputs during sleep and then re-enable with enableOutputs() before stepping again. If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled. :param motor_id: 0 - 3 """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_disable_outputs: Invalid motor_id.') command = [PrivateConstants.STEPPER_DISABLE_OUTPUTS, motor_id] await self._send_command(command) async def stepper_enable_outputs(self, motor_id): """ Enable motor pin outputs by setting the motor pins to OUTPUT mode. If the enable Pin is defined, sets it to OUTPUT mode and sets the pin to enabled. :param motor_id: 0 - 3 """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_enable_outputs: Invalid motor_id.') command = [PrivateConstants.STEPPER_ENABLE_OUTPUTS, motor_id] await self._send_command(command) async def stepper_set_min_pulse_width(self, motor_id, minimum_width): """ Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is approximately 20 microseconds. Times less than 20 microseconds will usually result in 20 microseconds or so. :param motor_id: 0 -3 :param minimum_width: A 16 bit unsigned value expressed in microseconds. """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_min_pulse_width: Invalid motor_id.') if not 0 < minimum_width <= 0xff: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_min_pulse_width: Pulse width range = ' '0-0xffff.') width_msb = minimum_width >> 8 width_lsb = minimum_width & 0xff command = [PrivateConstants.STEPPER_SET_MINIMUM_PULSE_WIDTH, motor_id, width_msb, width_lsb] await self._send_command(command) async def stepper_set_enable_pin(self, motor_id, pin=0xff): """ Sets the enable pin number for stepper drivers. 0xFF indicates unused (default). Otherwise, if a pin is set, the pin will be turned on when enableOutputs() is called and switched off when disableOutputs() is called. :param motor_id: 0 - 4 :param pin: 0-0xff """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_enable_pin: Invalid motor_id.') if not 0 < pin <= 0xff: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_enable_pin: Pulse width range = ' '0-0xff.') command = [PrivateConstants.STEPPER_SET_ENABLE_PIN, motor_id, pin] await self._send_command(command) async def stepper_set_3_pins_inverted(self, motor_id, direction=False, step=False, enable=False): """ Sets the inversion for stepper driver pins. :param motor_id: 0 - 3 :param direction: True=inverted or False :param step: True=inverted or False :param enable: True=inverted or False """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_3_pins_inverted: Invalid motor_id.') command = [PrivateConstants.STEPPER_SET_3_PINS_INVERTED, motor_id, direction, step, enable] await self._send_command(command) async def stepper_set_4_pins_inverted(self, motor_id, pin1_invert=False, pin2_invert=False, pin3_invert=False, pin4_invert=False, enable=False): """ Sets the inversion for 2, 3 and 4 wire stepper pins :param motor_id: 0 - 3 :param pin1_invert: True=inverted or False :param pin2_invert: True=inverted or False :param pin3_invert: True=inverted or False :param pin4_invert: True=inverted or False :param enable: True=inverted or False """ if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_set_4_pins_inverted: Invalid motor_id.') command = [PrivateConstants.STEPPER_SET_4_PINS_INVERTED, motor_id, pin1_invert, pin2_invert, pin3_invert, pin4_invert, enable] await self._send_command(command) async def stepper_is_running(self, motor_id, callback): """ Checks to see if the motor is currently running to a target. Callback return True if the speed is not zero or not at the target position. :param motor_id: 0-4 :param callback: required callback function to receive report :return: The current running state returned via the callback as a list: [REPORT_TYPE=18, motor_id, True or False for running state, time_stamp] """ if not callback: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( 'stepper_is_running: A callback function must be specified.') if not self.stepper_info_list[motor_id]['instance']: if self.shutdown_on_exception: await self.shutdown() raise RuntimeError('stepper_is_running: Invalid motor_id.') self.stepper_info_list[motor_id]['is_running_callback'] = callback command = [PrivateConstants.STEPPER_IS_RUNNING, motor_id] await self._send_command(command) async def shutdown(self): """ This method attempts an orderly shutdown If any exceptions are thrown, they are ignored. """ self.shutdown_flag = True # stop all reporting - both analog and digital try: if self.serial_port: command = [PrivateConstants.STOP_ALL_REPORTS] await self._send_command(command) time.sleep(.5) await self.serial_port.reset_input_buffer() await self.serial_port.close() if self.close_loop_on_shutdown: self.loop.stop() elif self.sock: command = [PrivateConstants.STOP_ALL_REPORTS] await self._send_command(command) self.the_task.cancel() time.sleep(.5) if self.close_loop_on_shutdown: self.loop.stop() except (RuntimeError, SerialException): pass async def disable_all_reporting(self): """ Disable reporting for all digital and analog input pins """ command = [PrivateConstants.MODIFY_REPORTING, PrivateConstants.REPORTING_DISABLE_ALL, 0] await self._send_command(command) async def disable_analog_reporting(self, pin): """ Disables analog reporting for a single analog pin. :param pin: Analog pin number. For example for A0, the number is 0. """ command = [PrivateConstants.MODIFY_REPORTING, PrivateConstants.REPORTING_ANALOG_DISABLE, pin] await self._send_command(command) async def disable_digital_reporting(self, pin): """ Disables digital reporting for a single digital pin :param pin: pin number """ command = [PrivateConstants.MODIFY_REPORTING, PrivateConstants.REPORTING_DIGITAL_DISABLE, pin] await self._send_command(command) async def enable_analog_reporting(self, pin): """ Enables analog reporting for the specified pin. :param pin: Analog pin number. For example for A0, the number is 0. """ command = [PrivateConstants.MODIFY_REPORTING, PrivateConstants.REPORTING_ANALOG_ENABLE, pin] await self._send_command(command) async def enable_digital_reporting(self, pin): """ Enable reporting on the specified digital pin. :param pin: Pin number. """ command = [PrivateConstants.MODIFY_REPORTING, PrivateConstants.REPORTING_DIGITAL_ENABLE, pin] await self._send_command(command) async def _arduino_report_dispatcher(self): """ This is a private method. It continually accepts and interprets data coming from Telemetrix4Arduino,and then dispatches the correct handler to process the data. It first receives the length of the packet, and then reads in the rest of the packet. A packet consists of a length, report identifier and then the report data. Using the report identifier, the report handler is fetched from report_dispatch. :returns: This method never returns """ while True: if self.shutdown_flag: break try: if not self.ip_address: packet_length = await self.serial_port.read() else: packet_length = ord(await self.sock.read()) except TypeError: continue # get the rest of the packet if not self.ip_address: packet = await self.serial_port.read(packet_length) else: packet = list(await self.sock.read(packet_length)) report = packet[0] # print(report) # handle all other messages by looking them up in the # command dictionary await self.report_dispatch[report](packet[1:]) await asyncio.sleep(self.sleep_tune) ''' Report message handlers ''' async def _report_loop_data(self, data): """ Print data that was looped back :param data: byte of loop back data """ if self.loop_back_callback: await self.loop_back_callback(data) async def _spi_report(self, report): cb_list = [PrivateConstants.SPI_REPORT, report[0]] + report[1:] cb_list.append(time.time()) await self.spi_callback(cb_list) async def _onewire_report(self, report): cb_list = [PrivateConstants.ONE_WIRE_REPORT, report[0]] + report[1:] cb_list.append(time.time()) await self.onewire_callback(cb_list) async def _report_debug_data(self, data): """ Print debug data sent from Arduino :param data: data[0] is a byte followed by 2 bytes that comprise an integer """ value = (data[1] << 8) + data[2] print(f'DEBUG ID: {data[0]} Value: {value}') async def _analog_message(self, data): """ This is a private message handler method. It is a message handler for analog messages. :param data: message data """ pin = data[0] value = (data[1] << 8) + data[2] time_stamp = time.time() # append pin number, pin value, and pin type to return value and return as a list message = [PrivateConstants.AT_ANALOG, pin, value, time_stamp] await self.analog_callbacks[pin](message) async def _dht_report(self, data): """ This is a private message handler for dht reports :param data: data[0] = report error return No Errors = 0 Checksum Error = 1 Timeout Error = 2 Invalid Value = 999 data[1] = pin number data[2] = dht type 11 or 22 data[3] = humidity positivity flag data[4] = temperature positivity value data[5] = humidity integer data[6] = humidity fractional value data[7] = temperature integer data[8] = temperature fractional value """ if data[0]: # DHT_ERROR # error report # data[0] = report sub type, data[1] = pin, data[2] = error message if self.dht_callbacks[data[1]]: # Callback 0=DHT REPORT, DHT_ERROR, PIN, Time message = [PrivateConstants.DHT_REPORT, data[0], data[1], data[2], time.time()] await self.dht_callbacks[data[1]](message) else: # got valid data DHT_DATA f_humidity = float(data[5] + data[6] / 100) if data[3]: f_humidity *= -1.0 f_temperature = float(data[7] + data[8] / 100) if data[4]: f_temperature *= -1.0 message = [PrivateConstants.DHT_REPORT, data[0], data[1], data[2], f_humidity, f_temperature, time.time()] await self.dht_callbacks[data[1]](message) async def _digital_message(self, data): """ This is a private message handler method. It is a message handler for Digital Messages. :param data: digital message """ pin = data[0] value = data[1] time_stamp = time.time() if self.digital_callbacks[pin]: message = [PrivateConstants.DIGITAL_REPORT, pin, value, time_stamp] await self.digital_callbacks[pin](message) async def _servo_unavailable(self, report): """ Message if no servos are available for use. :param report: pin number """ if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( f'Servo Attach For Pin {report[0]} Failed: No Available Servos') async def _i2c_read_report(self, data): """ Execute callback for i2c reads. :param data: [I2C_READ_REPORT, i2c_port, number of bytes read, address, register, bytes read..., time-stamp] """ # we receive [# data bytes, address, register, data bytes] # number of bytes of data returned # data[0] = number of bytes # data[1] = i2c_port # data[2] = number of bytes returned # data[3] = address # data[4] = register # data[5] ... all the data bytes cb_list = [PrivateConstants.I2C_READ_REPORT, data[0], data[1]] + data[2:] cb_list.append(time.time()) if cb_list[1]: await self.i2c_callback2(cb_list) else: await self.i2c_callback(cb_list) async def _i2c_too_few(self, data): """ I2c reports too few bytes received :param data: data[0] = device address """ if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( f'i2c too few bytes received from i2c port {data[0]} i2c address {data[1]}') async def _i2c_too_many(self, data): """ I2c reports too few bytes received :param data: data[0] = device address """ if self.shutdown_on_exception: await self.shutdown() raise RuntimeError( f'i2c too many bytes received from i2c port {data[0]} i2c address {data[1]}') async def _sonar_distance_report(self, report): """ :param report: data[0] = trigger pin, data[1] and data[2] = distance callback report format: [PrivateConstants.SONAR_DISTANCE, trigger_pin, distance_value, time_stamp] """ # get callback from pin number cb = self.sonar_callbacks[report[0]] # build report data cb_list = [PrivateConstants.SONAR_DISTANCE, report[0], ((report[1] << 8) + report[2]), time.time()] await cb(cb_list) async def _stepper_distance_to_go_report(self, report): """ Report stepper distance to go. :param report: data[0] = motor_id, data[1] = steps MSB, data[2] = steps byte 1, data[3] = steps bytes 2, data[4] = steps LSB callback report format: [PrivateConstants.STEPPER_DISTANCE_TO_GO, motor_id steps, time_stamp] """ # get callback cb = self.stepper_info_list[report[0]]['distance_to_go_callback'] # isolate the steps bytes and covert list to bytes steps = bytes(report[1:]) # get value from steps num_steps = int.from_bytes(steps, byteorder='big', signed=True) cb_list = [PrivateConstants.STEPPER_DISTANCE_TO_GO, report[0], num_steps, time.time()] await cb(cb_list) async def _stepper_target_position_report(self, report): """ Report stepper target position to go. :param report: data[0] = motor_id, data[1] = target position MSB, data[2] = target position byte MSB+1 data[3] = target position byte MSB+2 data[4] = target position LSB callback report format: [PrivateConstants.STEPPER_TARGET_POSITION, motor_id target_position, time_stamp] """ # get callback cb = self.stepper_info_list[report[0]]['target_position_callback'] # isolate the steps bytes and covert list to bytes target = bytes(report[1:]) # get value from steps target_position = int.from_bytes(target, byteorder='big', signed=True) cb_list = [PrivateConstants.STEPPER_TARGET_POSITION, report[0], target_position, time.time()] await cb(cb_list) async def _stepper_current_position_report(self, report): """ Report stepper current position. :param report: data[0] = motor_id, data[1] = current position MSB, data[2] = current position byte MSB+1 data[3] = current position byte MSB+2 data[4] = current position LSB callback report format: [PrivateConstants.STEPPER_CURRENT_POSITION, motor_id current_position, time_stamp] """ # get callback cb = self.stepper_info_list[report[0]]['current_position_callback'] # isolate the steps bytes and covert list to bytes position = bytes(report[1:]) # get value from steps current_position = int.from_bytes(position, byteorder='big', signed=True) cb_list = [PrivateConstants.STEPPER_CURRENT_POSITION, report[0], current_position, time.time()] await cb(cb_list) async def _stepper_is_running_report(self, report): """ Report if the motor is currently running :param report: data[0] = motor_id, True if motor is running or False if it is not. callback report format: [18, motor_id, running_state, time_stamp] """ # get callback cb = self.stepper_info_list[report[0]]['is_running_callback'] cb_list = [PrivateConstants.STEPPER_RUNNING_REPORT, report[0], time.time()] await cb(cb_list) async def _stepper_run_complete_report(self, report): """ The motor completed it motion :param report: data[0] = motor_id callback report format: [PrivateConstants.STEPPER_RUN_COMPLETE_REPORT, motor_id, time_stamp] """ # get callback cb = self.stepper_info_list[report[0]]['motion_complete_callback'] cb_list = [PrivateConstants.STEPPER_RUN_COMPLETE_REPORT, report[0], time.time()] await cb(cb_list) async def _features_report(self, report): self.reported_features = report[0] async def _send_command(self, command): """ This is a private utility method. :param command: command data in the form of a list :returns: number of bytes sent """ # the length of the list is added at the head command.insert(0, len(command)) # print(command) send_message = bytes(command) if not self.ip_address: await self.serial_port.write(send_message) else: await self.sock.write(send_message) # await asyncio.sleep(.1)