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Copy pathmegapi_python3.py
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Copy pathmegapi_python3.py
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373 lines (301 loc) · 13.3 KB
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import serial
import sys,time,math,random
import signal
from time import ctime,sleep
import glob,struct
from multiprocessing import Process,Manager,Array
import threading
class mSerial():
ser = None
def __init__(self):
print(self)
def start(self, port='/dev/ttyAMA0'):
self.ser = serial.Serial(port,115200,timeout=10)
def device(self):
return self.ser
def serialPorts(self):
if sys.platform.startswith('win'):
ports = ['COM%s' % (i + 1) for i in range(256)]
elif sys.platform.startswith('linux') or sys.platform.startswith('cygwin'):
ports = glob.glob('/dev/tty[A-Za-z]*')
elif sys.platform.startswith('darwin'):
ports = glob.glob('/dev/tty.*')
else:
raise EnvironmentError('Unsupported platform')
result = []
for port in ports:
s = serial.Serial()
s.port = port
s.close()
result.append(port)
return result
def writePackage(self,package):
self.ser.write(package)
sleep(0.01)
def read(self):
return self.ser.read()
def isOpen(self):
return self.ser.isOpen()
def inWaiting(self):
return self.ser.inWaiting()
def close(self):
self.ser.close()
M1 = 9
M2 = 10
A0 = 14
A1 = 15
A2 = 16
A3 = 17
A4 = 18
A6 = 19
A7 = 20
A8 = 21
A9 = 22
A10 = 23
A11 = 24
class MegaPi():
def __init__(self):
print("init MegaPi")
signal.signal(signal.SIGINT, self.exit)
self.manager = Manager()
self.__selectors = self.manager.dict()
self.buffer = []
self.bufferIndex = 0
self.isParseStart = False
self.exiting = False
self.isParseStartIndex = 0
def __del__(self):
self.exiting = True
def start(self,port='/dev/ttyAMA0'):
self.device = mSerial()
self.device.start(port)
sys.excepthook = self.excepthook
th = threading.Thread(target=self.__onRead,args=(self.onParse,))
th.start()
def excepthook(self, exctype, value, traceback):
self.close()
def close(self):
self.device.close()
def exit(self, signal, frame):
self.exiting = True
sys.exit(0)
def __onRead(self,callback):
while True:
if(self.exiting==True):
break
try:
if self.device.isOpen()==True:
n = self.device.inWaiting()
for i in range(n):
r = ord(self.device.read())
callback(r)
sleep(0.01)
else:
sleep(0.5)
except Exception as ex:
print(str(ex))
self.close()
sleep(1)
def __writePackage(self,pack):
self.device.writePackage(pack)
def __writeRequestPackage(self,deviceId,port,callback):
extId = ((port<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x4,extId,0x1,deviceId,port]))
def digitalRead(self,pin,callback):
self.__writeRequestPackage(0x1e,pin,callback)
def analogRead(self,pin,callback):
self.__writeRequestPackage(0x1f,pin,callback)
def lightSensorRead(self,port,callback):
self.__writeRequestPackage(4,port,callback)
def ultrasonicSensorRead(self,port,callback):
self.__writeRequestPackage(1,port,callback)
def lineFollowerRead(self,port,callback):
self.__writeRequestPackage(17,port,callback)
def soundSensorRead(self,port,callback):
self.__writeRequestPackage(7,port,callback)
def pirMotionSensorRead(self,port,callback):
self.__writeRequestPackage(15,port,callback)
def potentiometerRead(self,port,callback):
self.__writeRequestPackage(4,port,callback)
def limitSwitchRead(self,port,callback):
self.__writeRequestPackage(21,port,callback)
def temperatureRead(self,port,callback):
self.__writeRequestPackage(2,port,callback)
def touchSensorRead(self,port,callback):
self.__writeRequestPackage(15,port,callback)
def humitureSensorRead(self,port,type,callback):
deviceId = 23;
extId = ((port<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x5,extId,0x1,deviceId,port,type]))
def joystickRead(self,port,axis,callback):
deviceId = 5;
extId = (((port+axis)<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x5,extId,0x1,deviceId,port,axis]))
def gasSensorRead(self,port,callback):
self.__writeRequestPackage(25,port,callback)
def flameSensorRead(self,port,callback):
self.__writeRequestPackage(24,port,callback)
def compassRead(self,port,callback):
self.__writeRequestPackage(26,port,callback)
def angularSensorRead(self,port,slot,callback):
self.__writeRequestPackage(28,port,callback)
def buttonRead(self,port,callback):
self.__writeRequestPackage(22,port,callback)
def gyroRead(self,port,axis,callback):
deviceId = 6;
extId = (((port+axis)<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x5,extId,0x1,deviceId,port,axis]))
def pressureSensorBegin(self):
self.__writePackage(bytearray([0xff,0x55,0x3,0x0,0x2,29]))
def pressureSensorRead(self,type,callback):
self.__writeRequestPackage(29,type,callback)
def digitalWrite(self,pin,level):
self.__writePackage(bytearray([0xff,0x55,0x5,0x0,0x2,0x1e,pin,level]))
def pwmWrite(self,pin,pwm):
self.__writePackage(bytearray([0xff,0x55,0x5,0x0,0x2,0x20,pin,pwm]))
def motorRun(self,port,speed):
self.__writePackage(bytearray([0xff,0x55,0x6,0x0,0x2,0xa,port]+self.short2bytes(speed)))
def motorMove(self,leftSpeed,rightSpeed):
self.__writePackage(bytearray([0xff,0x55,0x7,0x0,0x2,0x5]+self.short2bytes(-leftSpeed)+self.short2bytes(rightSpeed)))
def servoRun(self,port,slot,angle):
self.__writePackage(bytearray([0xff,0x55,0x6,0x0,0x2,0xb,port,slot,angle]))
def encoderMotorRun(self,slot,speed):
deviceId = 62;
self.__writePackage(bytearray([0xff,0x55,0x07,0x00,0x02,deviceId,0x02,slot]+self.short2bytes(speed)))
def encoderMotorMove(self,slot,speed,distance,callback):
deviceId = 62;
extId = ((slot<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x0b,extId,0x02,deviceId,0x01,slot]+self.long2bytes(distance)+self.short2bytes(speed)))
def encoderMotorMoveTo(self,slot,speed,distance,callback):
deviceId = 62;
extId = ((slot<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x0b,extId,0x02,deviceId,0x06,slot]+self.long2bytes(distance)+self.short2bytes(speed)))
def encoderMotorSetCurPosZero(self,slot):
deviceId = 62;
self.__writePackage(bytearray([0xff,0x55,0x05,0x00,0x02,deviceId,0x04,slot]))
def encoderMotorPosition(self,slot,callback):
deviceId = 61;
extId = ((slot<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x06,extId,0x01,deviceId,0x00,slot,0x01]))
def encoderMotorSpeed(self,slot,callback):
deviceId = 61;
extId = ((slot<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x06,extId,0x01,deviceId,0x00,slot,0x02]))
def stepperMotorRun(self,slot,speed):
deviceId = 76;
self.__writePackage(bytearray([0xff,0x55,0x07,0x00,0x02,deviceId,0x02,slot]+self.short2bytes(speed)))
def stepperMotorMove(self,port,speed,distance,callback):
deviceId = 76;
extId = ((port<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x0b,extId,0x02,deviceId,0x01,port]+self.long2bytes(distance)+self.short2bytes(speed)))
def stepperMotorMoveTo(self,port,speed,distance,callback):
deviceId = 76;
extId = ((port<<4)+deviceId)&0xff
self.__doCallback(extId,callback)
self.__writePackage(bytearray([0xff,0x55,0x0b,extId,0x02,deviceId,0x06,port]+self.long2bytes(distance)+self.short2bytes(speed)))
def stepperMotorSetCurPosZero(self,port):
deviceId = 76;
self.__writePackage(bytearray([0xff,0x55,0x05,0x00,0x02,deviceId,0x04,port]))
def rgbledDisplay(self,port,slot,index,red,green,blue):
self.__writePackage(bytearray([0xff,0x55,0x9,0x0,0x2,0x8,port,slot,index,int(red),int(green),int(blue)]))
def rgbledShow(self,port,slot):
self.__writePackage(bytearray([0xff,0x55,0x5,0x0,0x2,19,port,slot]))
def sevenSegmentDisplay(self,port,value):
self.__writePackage(bytearray([0xff,0x55,0x8,0x0,0x2,9,port]+self.float2bytes(value)))
def ledMatrixMessage(self,port,x,y,message):
arr = list(message);
for i in range(len(arr)):
arr[i] = ord(arr[i]);
self.__writePackage(bytearray([0xff,0x55,8+len(arr),0,0x2,41,port,1,self.char2byte(x),self.char2byte(7-y),len(arr)]+arr))
def ledMatrixDisplay(self,port,x,y,buffer):
self.__writePackage(bytearray([0xff,0x55,7+len(buffer),0,0x2,41,port,2,x,7-y]+buffer))
def shutterOn(self,port):
self.__writePackage(bytearray([0xff,0x55,0x5,0,0x3,20,port,1]))
def shutterOff(self,port):
self.__writePackage(bytearray([0xff,0x55,0x5,0,0x3,20,port,2]))
def focusOn(self,port):
self.__writePackage(bytearray([0xff,0x55,0x5,0,0x3,20,port,3]))
def focusOff(self,port):
self.__writePackage(bytearray([0xff,0x55,0x5,0,0x3,20,port,4]))
def onParse(self, byte):
position = 0
value = 0
self.buffer+=[byte]
bufferLength = len(self.buffer)
if bufferLength >= 2:
if (self.buffer[bufferLength-1]==0x55 and self.buffer[bufferLength-2]==0xff):
self.isParseStart = True
self.isParseStartIndex = bufferLength-2
if (self.buffer[bufferLength-1]==0xa and self.buffer[bufferLength-2]==0xd and self.isParseStart==True):
self.isParseStart = False
position = self.isParseStartIndex+2
extID = self.buffer[position]
position+=1
type = self.buffer[position]
position+=1
# 1 byte 2 float 3 short 4 len+string 5 double
if type == 1:
value = self.buffer[position]
if type == 2:
value = self.readFloat(position)
if(value<-512 or value>1023):
value = 0
if type == 3:
value = self.readShort(position)
if type == 4:
value = self.readString(position)
if type == 5:
value = self.readDouble(position)
if type == 6:
value = self.readLong(position)
if(type<=6):
self.responseValue(extID,value)
self.buffer = []
def readFloat(self, position):
v = [self.buffer[position], self.buffer[position+1],self.buffer[position+2],self.buffer[position+3]]
return struct.unpack('<f', struct.pack('4B', *v))[0]
def readShort(self, position):
v = [self.buffer[position], self.buffer[position+1]]
return struct.unpack('<h', struct.pack('2B', *v))[0]
def readString(self, position):
l = self.buffer[position]
position+=1
s = ""
for i in range(l):
s += self.buffer[position+i].charAt(0)
return s
def readDouble(self, position):
v = [self.buffer[position], self.buffer[position+1],self.buffer[position+2],self.buffer[position+3]]
return struct.unpack('<f', struct.pack('4B', *v))[0]
def readLong(self, position):
v = [self.buffer[position], self.buffer[position+1],self.buffer[position+2],self.buffer[position+3]]
return struct.unpack('<l', struct.pack('4B', *v))[0]
def responseValue(self, extID, value):
self.__selectors["callback_"+str(extID)](value)
def __doCallback(self, extID, callback):
self.__selectors["callback_"+str(extID)] = callback
def float2bytes(self,fval):
val = struct.pack("f",fval)
#return [ord(val[0]),ord(val[1]),ord(val[2]),ord(val[3])]
return [val[0],val[1],val[2],val[3]]
def long2bytes(self,lval):
val = struct.pack("=l",lval)
#return [ord(val[0]),ord(val[1]),ord(val[2]),ord(val[3])]
return [val[0],val[1],val[2],val[3]]
def short2bytes(self,sval):
val = struct.pack("h",sval)
#return [ord(val[0]),ord(val[1])]
return [val[0],val[1]]
def char2byte(self,cval):
val = struct.pack("b",cval)
#return ord(val[0])
return val[0]
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