From 3b60d7511ee67ce49e92222c92b5c8b01ebb8da4 Mon Sep 17 00:00:00 2001 From: jpunkt Date: Wed, 5 Jan 2022 19:09:31 +0100 Subject: [PATCH] Implemented serial communication handshake. Added button response commands. --- .gitignore | 1 + pizzactrl/hal_serial.py | 75 ++++++++++++++++++++++----------------- pizzactrl/statemachine.py | 8 ++++- 3 files changed, 51 insertions(+), 33 deletions(-) diff --git a/.gitignore b/.gitignore index ceba0c7..e682712 100644 --- a/.gitignore +++ b/.gitignore @@ -130,3 +130,4 @@ dmypy.json # Pycharm settings .idea +workspace.code-workspace diff --git a/pizzactrl/hal_serial.py b/pizzactrl/hal_serial.py index 27290c4..fc08ae1 100644 --- a/pizzactrl/hal_serial.py +++ b/pizzactrl/hal_serial.py @@ -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) diff --git a/pizzactrl/statemachine.py b/pizzactrl/statemachine.py index 04031b9..e71d69c 100644 --- a/pizzactrl/statemachine.py +++ b/pizzactrl/statemachine.py @@ -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