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Changed PizzaHAL.send_cmd() to be compatible with teensy.

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Added support for RGBW LEDs.
This commit is contained in:
jpunkt 2021-12-21 19:13:28 +01:00
parent 1fd975fd66
commit fec7aa6d97
1 changed files with 43 additions and 23 deletions
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66
pizzactrl/hal_serial.py
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@ -24,17 +24,27 @@ 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 = 9600
SERIAL_BAUDRATE = 115200
class SerialCommands(Enum):
MOTOR_VERT = 'V'
MOTOR_HOR = 'H'
BACKLIGHT = 'B'
FRONTLIGHT = 'F'
USER_INTERACTION = 'U'
RECORD = 'C'
REWIND = 'R'
HELLO = b'\x00'
ALREADY_CONNECTED = b'\x01'
ERROR = b'\x02'
RECEIVED = b'\x03'
MOTOR_H = b'H'
MOTOR_V = b'V'
BACKLIGHT = b'B'
FRONTLIGHT = b'F'
USER_INTERACT = b'U'
RECORD = b'C'
REWIND = b'R'
EOT = b'\n'
class PizzaHAL:
@ -58,15 +68,16 @@ class PizzaHAL:
self.camera = None
self.soundcache = {}
self.blocked = False
def send_cmd(self, command: SerialCommands, *options):
self.blocked = True
opt_str = '+'.join(str(x) for x in options)
cmd_str = f'{command.value}:{opt_str}\n'
self.serialcon.write(cmd_str.encode('utf-8'))
resp = self.serialcon.readline()
self.blocked = False
"""
Send a command and optional options. Options need to be encoded as bytes before passing.
"""
self.serialcon.write(command.value)
for o in options:
self.serialcon.write(o)
self.serialcon.write(SerialCommands.EOT.value)
resp = self.serialcon.read_until()
# TODO handle errors in response
return resp
@ -93,7 +104,7 @@ def move_vert(hal: PizzaHAL, steps: int):
Move the motor controlling the vertical scroll a given distance.
"""
hal.send_cmd(SerialCommands.MOTOR_VERT, steps)
hal.send_cmd(SerialCommands.MOTOR_V, steps.to_bytes(2, 'little', signed=True))
def move_hor(hal: PizzaHAL, steps: int):
@ -101,7 +112,7 @@ def move_hor(hal: PizzaHAL, steps: int):
Move the motor controlling the horizontal scroll a given distance.
"""
hal.send_cmd(SerialCommands.MOTOR_HOR, steps)
hal.send_cmd(SerialCommands.MOTOR_H, steps.to_bytes(2, 'little', signed=True))
@blocking
@ -144,7 +155,7 @@ def wait_for_input(hal: PizzaHAL, go_callback: Any,
@blocking
def light_layer(hal: PizzaHAL, intensity: float, fade: float = 0.0, steps: int = 100, **kwargs):
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
@ -156,12 +167,16 @@ def light_layer(hal: PizzaHAL, intensity: float, fade: float = 0.0, steps: int =
:param steps: int
How many steps for the fade (default: 100)
"""
hal.send_cmd(SerialCommands.FRONTLIGHT, int(intensity * 100), int(fade * 1000), steps)
hal.send_cmd(SerialCommands.FRONTLIGHT,
int(r * 255).to_bytes(1, 'little'),
int(g * 255).to_bytes(1, 'little'),
int(b * 255).to_bytes(1, 'little'),
int(w * 255).to_bytes(1, 'little'),
int(fade * 1000).to_bytes(4, 'little'))
@blocking
def backlight(hal: PizzaHAL, intensity: float, fade: float = 0.0,
steps: int = 100, **kwargs):
def backlight(hal: PizzaHAL, r: float, g: float, b: float, w: float, fade: float = 0.0, **kwargs):
"""
Turn on the backlight
@ -173,7 +188,12 @@ def backlight(hal: PizzaHAL, intensity: float, fade: float = 0.0,
:param steps: int
How many steps for the fade (default: 100)
"""
hal.send_cmd(SerialCommands.BACKLIGHT, int(intensity * 100), int(fade * 1000), steps)
hal.send_cmd(SerialCommands.BACKLIGHT,
int(r * 255).to_bytes(1, 'little'),
int(g * 255).to_bytes(1, 'little'),
int(b * 255).to_bytes(1, 'little'),
int(w * 255).to_bytes(1, 'little'),
int(fade * 1000).to_bytes(4, 'little'))
@blocking
def play_sound(hal: PizzaHAL, sound: Any, **kwargs):