Implemented serial communication handshake.
Added button response commands.
This commit is contained in:
jpunkt
parent
fec7aa6d97
commit
3b60d7511e
|
|
@ -130,3 +130,4 @@ dmypy.json
|
|||
|
||||
# Pycharm settings
|
||||
.idea
|
||||
workspace.code-workspace
|
||||
|
|
|
|||
|
|
@ -23,8 +23,10 @@ logger = logging.getLogger(__name__)
|
|||
VIDEO_RES = (1920, 1080) # Video Resolution
|
||||
PHOTO_RES = (2592, 1944) # Photo Resolution
|
||||
AUDIO_REC_SR = 44100 # Audio Recording Samplerate
|
||||
SERIAL_DEV = '/dev/serial0'
|
||||
SERIAL_BAUDRATE = 115200
|
||||
|
||||
SERIAL_DEV = '/dev/serial0' # Serial port to use
|
||||
SERIAL_BAUDRATE = 115200 # Serial connection baud rate
|
||||
SERIAL_CONN_TIMEOUT = 60 # Serial connection read timeout
|
||||
|
||||
|
||||
class SerialCommands(Enum):
|
||||
|
|
@ -40,6 +42,11 @@ class SerialCommands(Enum):
|
|||
FRONTLIGHT = b'F'
|
||||
|
||||
USER_INTERACT = b'U'
|
||||
|
||||
RESP_BLUE = b'X'
|
||||
RESP_RED = b'O'
|
||||
RESP_YELLOW = b'Y'
|
||||
RESP_GREEN = b'N'
|
||||
|
||||
RECORD = b'C'
|
||||
REWIND = b'R'
|
||||
|
|
@ -47,6 +54,10 @@ class SerialCommands(Enum):
|
|||
EOT = b'\n'
|
||||
|
||||
|
||||
class SerialCommunicationError(Exception):
|
||||
pass
|
||||
|
||||
|
||||
class PizzaHAL:
|
||||
"""
|
||||
This class holds a represenation of the pizza box hardware and provides
|
||||
|
|
@ -60,18 +71,44 @@ class PizzaHAL:
|
|||
|
||||
"""
|
||||
|
||||
def __init__(self, serialdev: str = SERIAL_DEV, baudrate: int = SERIAL_BAUDRATE):
|
||||
self.serialcon = serial.Serial(serialdev, baudrate=baudrate, timeout=None)
|
||||
def __init__(self, serialdev: str = SERIAL_DEV, baudrate: int = SERIAL_BAUDRATE, timeout: float = SERIAL_CONN_TIMEOUT):
|
||||
self.serialcon = serial.Serial(serialdev, baudrate=baudrate, timeout=timeout)
|
||||
|
||||
self.btn_start = Button(gpio_pins.BTN_START)
|
||||
|
||||
self.camera = None
|
||||
self.soundcache = {}
|
||||
|
||||
def send_cmd(self, command: SerialCommands, *options):
|
||||
self.connected = False
|
||||
|
||||
def init_connection(self):
|
||||
self.serialcon.write(SerialCommands.HELLO.value + SerialCommands.EOT.value)
|
||||
resp = self.serialcon.read_until()
|
||||
if resp == (SerialCommands.HELLO.value + SerialCommands.EOT.value):
|
||||
self.serialcon.write(SerialCommands.ALREADY_CONNECTED.value + SerialCommands.EOT.value)
|
||||
elif resp == (SerialCommands.ALREADY_CONNECTED.value + SerialCommands.EOT.value):
|
||||
logger.warn('Serial Connection received ALREADY CONNECTED as response to HELLO. Assuming connection ok.')
|
||||
self.connected = True
|
||||
return
|
||||
elif resp == b'':
|
||||
raise SerialCommunicationError('Timeout on initializing connection.')
|
||||
else:
|
||||
raise SerialCommunicationError(f'Serial Connection received invalid response to HELLO: {resp}')
|
||||
resp = self.serialcon.read_until()
|
||||
if resp == (SerialCommands.ALREADY_CONNECTED.value + SerialCommands.EOT.value):
|
||||
self.connected == True
|
||||
logger.info('Serial Connection established')
|
||||
elif resp == b'':
|
||||
raise SerialCommunicationError('Timeout on initializing connection.')
|
||||
else:
|
||||
raise SerialCommunicationError(f'Serial Connection received invalid response to ALREADY CONNECTED: {resp}')
|
||||
|
||||
def send_cmd(self, command: SerialCommands, *options: bytes):
|
||||
"""
|
||||
Send a command and optional options. Options need to be encoded as bytes before passing.
|
||||
"""
|
||||
if not self.connected:
|
||||
raise SerialCommunicationError("Serial Communication not initialized. Call `init_connection()` before `send_cmd()`.")
|
||||
self.serialcon.write(command.value)
|
||||
for o in options:
|
||||
self.serialcon.write(o)
|
||||
|
|
@ -81,24 +118,6 @@ class PizzaHAL:
|
|||
return resp
|
||||
|
||||
|
||||
def blocking(func):
|
||||
@functools.wraps(func)
|
||||
def _wrapper(*args, **kwargs):
|
||||
hal = kwargs.get('hal', None)
|
||||
if hal is not None:
|
||||
logger.debug('blocking...')
|
||||
while hal.blocked:
|
||||
pass
|
||||
hal.blocked = True
|
||||
func(*args, **kwargs)
|
||||
if hal is not None:
|
||||
logger.debug('unblocking')
|
||||
hal.blocked = False
|
||||
sleep(0.1)
|
||||
return _wrapper
|
||||
|
||||
|
||||
@blocking
|
||||
def move_vert(hal: PizzaHAL, steps: int):
|
||||
"""
|
||||
Move the motor controlling the vertical scroll a given distance.
|
||||
|
|
@ -115,7 +134,6 @@ def move_hor(hal: PizzaHAL, steps: int):
|
|||
hal.send_cmd(SerialCommands.MOTOR_H, steps.to_bytes(2, 'little', signed=True))
|
||||
|
||||
|
||||
@blocking
|
||||
def rewind(hal: PizzaHAL):
|
||||
"""
|
||||
Rewind both scrolls.
|
||||
|
|
@ -154,7 +172,6 @@ def wait_for_input(hal: PizzaHAL, go_callback: Any,
|
|||
to_callback(**kwargs)
|
||||
|
||||
|
||||
@blocking
|
||||
def light_layer(hal: PizzaHAL, r: float, g: float, b: float, w: float, fade: float = 0.0, **kwargs):
|
||||
"""
|
||||
Turn on the light to illuminate the upper scroll
|
||||
|
|
@ -175,7 +192,6 @@ def light_layer(hal: PizzaHAL, r: float, g: float, b: float, w: float, fade: flo
|
|||
int(fade * 1000).to_bytes(4, 'little'))
|
||||
|
||||
|
||||
@blocking
|
||||
def backlight(hal: PizzaHAL, r: float, g: float, b: float, w: float, fade: float = 0.0, **kwargs):
|
||||
"""
|
||||
Turn on the backlight
|
||||
|
|
@ -195,7 +211,7 @@ def backlight(hal: PizzaHAL, r: float, g: float, b: float, w: float, fade: float
|
|||
int(w * 255).to_bytes(1, 'little'),
|
||||
int(fade * 1000).to_bytes(4, 'little'))
|
||||
|
||||
@blocking
|
||||
|
||||
def play_sound(hal: PizzaHAL, sound: Any, **kwargs):
|
||||
"""
|
||||
Play a sound.
|
||||
|
|
@ -213,7 +229,6 @@ def play_sound(hal: PizzaHAL, sound: Any, **kwargs):
|
|||
# sd.stop()
|
||||
|
||||
|
||||
@blocking
|
||||
def record_sound(hal: PizzaHAL, filename: Any, duration: float,
|
||||
cache: bool = False, **kwargs):
|
||||
"""
|
||||
|
|
@ -237,7 +252,6 @@ def record_sound(hal: PizzaHAL, filename: Any, duration: float,
|
|||
hal.soundcache[str(filename)] = (myrecording, AUDIO_REC_SR)
|
||||
|
||||
|
||||
@blocking
|
||||
def record_video(hal: PizzaHAL, filename: Any, duration: float, **kwargs):
|
||||
"""
|
||||
Record video using the camera
|
||||
|
|
@ -252,7 +266,6 @@ def record_video(hal: PizzaHAL, filename: Any, duration: float, **kwargs):
|
|||
hal.camera.stop_recording()
|
||||
|
||||
|
||||
@blocking
|
||||
def take_photo(hal: PizzaHAL, filename: Any, **kwargs):
|
||||
"""
|
||||
Take a foto with the camera
|
||||
|
|
@ -264,7 +277,6 @@ def take_photo(hal: PizzaHAL, filename: Any, **kwargs):
|
|||
hal.camera.capture(str(filename))
|
||||
|
||||
|
||||
@blocking
|
||||
def init_sounds(hal: PizzaHAL, sounds: List):
|
||||
"""
|
||||
Load prerecorded Sounds into memory
|
||||
|
|
@ -281,7 +293,6 @@ def init_sounds(hal: PizzaHAL, sounds: List):
|
|||
hal.soundcache[str(sound)] = (data, fs)
|
||||
|
||||
|
||||
@blocking
|
||||
def init_camera(hal: PizzaHAL):
|
||||
if hal.camera is None:
|
||||
hal.camera = PiCamera(sensor_mode=5)
|
||||
|
|
|
|||
|
|
@ -10,7 +10,7 @@ from subprocess import call
|
|||
|
||||
from pizzactrl import fs_names, sb_dummy
|
||||
from .storyboard import Activity
|
||||
from .hal_serial import play_sound, take_photo, record_video, record_sound, turn_off, \
|
||||
from .hal_serial import SerialCommunicationError, play_sound, take_photo, record_video, record_sound, turn_off, \
|
||||
PizzaHAL, init_camera, init_sounds, wait_for_input, \
|
||||
light_layer, backlight, move_vert, move_hor, rewind
|
||||
|
||||
|
|
@ -109,6 +109,12 @@ class Statemachine:
|
|||
logger.debug(f'power on')
|
||||
# self.hal.lid_sensor.when_pressed = self._lid_open
|
||||
# self.hal.lid_sensor.when_released = self._lid_closed
|
||||
try:
|
||||
self.hal.init_connection()
|
||||
except SerialCommunicationError as e:
|
||||
self.state = State.ERROR
|
||||
logger.exception(e)
|
||||
return
|
||||
init_sounds(self.hal, load_sounds())
|
||||
init_camera(self.hal)
|
||||
self.state = State.POST
|
||||
|
|
|
|||
Loading…
Reference in New Issue