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Add monitor for pins and reading loop for MCU #99

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Add monitor for pins and reading loop for MCU #99

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c3c5694
monitorSensors
IceCreamMilkyTea Jan 2, 2025
9000d86
Split sensor monitors and add callback usage
IceCreamMilkyTea Jan 2, 2025
facce38
Add read_MCU_loop
IceCreamMilkyTea Jan 3, 2025
ff946c4
Update ardSerial.py in serialMaster
IceCreamMilkyTea Jan 3, 2025
0ed2655
fix format
IceCreamMilkyTea Jan 3, 2025
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77 changes: 76 additions & 1 deletion OpenCatPythonAPI/PetoiRobot/ardSerial.py
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@ def serialWriteByte(port, var=None):
var.insert(1, var[0][1:])
var[1:] = list(map(int, var[1:]))
in_str = token.encode() + struct.pack('b' * (len(var) - 1), *var[1:]) + '~'.encode()
elif token == 'w' or token == 'k' or token == 'X':
elif token == 'w' or token == 'k' or token == 'X' or token == 'g':
in_str = var[0] + '\n'
else:
in_str = token + '\n'
Expand Down Expand Up @@ -859,6 +859,59 @@ def refreshBox(ls):
tk.messagebox.showwarning(title=txt('Warning'), message=txt('Manual mode'))
window.mainloop()

def monitoringVoltage(ports, VoltagePin, timer, callback):
while True and len(ports):
time.sleep(timer)
voltage = send(ports, ["R", [97, VoltagePin], 0])
if callback is not None:
callback(voltage)
else:
print("Current Voltage:" + str(voltage))

def monitoringDistance(ports, trigerPin, echoPin, timer, callback):
while True and len(ports):
time.sleep(timer)
distance = send(ports, ["XU", [trigerPin, echoPin], 0])
if callback is not None:
callback(distance)
else:
print("Current Distance:" + str(distance))

def monitoringJoint(ports, jointIndex, timer, callback):
while True and len(ports):
time.sleep(timer)
if jointIndex == 0:
angel = send(ports, ["j", jointIndex])
else:
angel = send(ports, ["j", [jointIndex], 0])
if callback is not None:
callback(angel)
else:
print("Current Angel:" + str(angel))

def read_MCU_loop(PortList, callback=None):
result = send(PortList, ['gP', 0])
print("send results " + str(result))
p = list(PortList.keys())
serialObject = p[0]
while True:
try:
if PortList:
data = serialObject.main_engine.readline()
if data:
try:
decoded_data = data.decode('ISO-8859-1').strip()
if callback is not None:
callback(decoded_data)
else:
print(str(decoded_data))
except Exception as e:
logger.error(f"Error decoding serial port data: {e}")
time.sleep(0.005) # avoid high CPU usage
except Exception as e:
logger.error(f"Error reading serial port data: {e}")
break

#if need to open serial port, use objects goodPorts
goodPorts = {} # goodPorts is a dictionary, the structure is {SerialPort Object(<class 'SerialCommunication.Communication'>): portName(string), ...}

Expand All @@ -870,11 +923,33 @@ def refreshBox(ls):
returnValue = ''
timePassed = 0

'''
# Monitor callback usage sample
def voltageHanle(voltage):
if voltage <0.5:
print("Low Power Warning") # do something to handle low power

def distanceHanle(distance):
if distance <0.5:
print("Small Distance Warning") # do something to handle small distance
'''


if __name__ == '__main__':
try:
connectPort(goodPorts)
t = threading.Thread(target=keepCheckingPort, args=(goodPorts,), daemon=True)
t.start()
t1=threading.Thread(target=read_MCU_loop, args=(goodPorts, None))
t1.start()
### Monitor Threads
# t_monitor_voltage = threading.Thread(target=monitoringVoltage, args=(goodPorts, 0xA7, 60, voltageHanle), daemon=True)
# t_monitor_voltage.start()
# t_monitor_distance = threading.Thread(target=monitoringDistance, args=(goodPorts, 16, 17, 0.5, distanceHanle), daemon=True)
# t_monitor_distance.start()
# t_monitor_joint = threading.Thread(target=monitoringJoint, args=(goodPorts, 0 , 0.5, None), daemon=True)
# t_monitor_joint.start()

if len(sys.argv) >= 2:
if len(sys.argv) == 2:
cmd = sys.argv[1]
Expand Down
77 changes: 76 additions & 1 deletion serialMaster/ardSerial.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -917,6 +917,59 @@ def refreshBox(ls):
tk.messagebox.showwarning(title=txt('Warning'), message=txt('Manual mode'))
window.mainloop()

def monitoringVoltage(ports, VoltagePin, timer, callback):
while True and len(ports):
time.sleep(timer)
voltage = send(ports, ["R", [97, VoltagePin], 0])
if callback is not None:
callback(voltage)
else:
print("Current Voltage:" + str(voltage))

def monitoringDistance(ports, trigerPin, echoPin, timer, callback):
while True and len(ports):
time.sleep(timer)
distance = send(ports, ["XU", [trigerPin, echoPin], 0])
if callback is not None:
callback(distance)
else:
print("Current Distance:" + str(distance))

def monitoringJoint(ports, jointIndex, timer, callback):
while True and len(ports):
time.sleep(timer)
if jointIndex == 0:
angel = send(ports, ["j", jointIndex])
else:
angel = send(ports, ["j", [jointIndex], 0])
if callback is not None:
callback(angel)
else:
print("Current Angel:" + str(angel))

def read_MCU_loop(PortList, callback=None):
result = send(PortList, ['gP', 0])
print("send results " + str(result))
p = list(PortList.keys())
serialObject = p[0]
while True:
try:
if PortList:
data = serialObject.main_engine.readline()
if data:
try:
decoded_data = data.decode('ISO-8859-1').strip()
if callback is not None:
callback(decoded_data)
else:
print(str(decoded_data))
except Exception as e:
logger.error(f"Error decoding serial port data: {e}")
time.sleep(0.005) # avoid high CPU usage
except Exception as e:
logger.error(f"Error reading serial port data: {e}")
break

#if need to open serial port, use objects goodPorts
goodPorts = {} # goodPorts is a dictionary, the structure is {SerialPort Object(<class 'SerialCommunication.Communication'>): portName(string), ...}

Expand All @@ -928,11 +981,33 @@ def refreshBox(ls):
returnValue = ''
timePassed = 0

'''
# Monitor callback usage sample
def voltageHanle(voltage):
if voltage <0.5:
print("Low Power Warning") # do something to handle low power

def distanceHanle(distance):
if distance <0.5:
print("Small Distance Warning") # do something to handle small distance
'''


if __name__ == '__main__':
try:
connectPort(goodPorts)
t = threading.Thread(target=keepCheckingPort, args=(goodPorts,))
t = threading.Thread(target=keepCheckingPort, args=(goodPorts,), daemon=True)
t.start()
t1=threading.Thread(target=read_MCU_loop, args=(goodPorts, None), daemon=True)
t1.start()
### Monitor Threads
# t_monitor_voltage = threading.Thread(target=monitoringVoltage, args=(goodPorts, 0xA7, 60, voltageHanle), daemon=True)
# t_monitor_voltage.start()
# t_monitor_distance = threading.Thread(target=monitoringDistance, args=(goodPorts, 16, 17, 0.5, distanceHanle), daemon=True)
# t_monitor_distance.start()
# t_monitor_joint = threading.Thread(target=monitoringJoint, args=(goodPorts, 0 , 0.5, None), daemon=True)
# t_monitor_joint.start()

if len(sys.argv) >= 2:
if len(sys.argv) == 2:
cmd = sys.argv[1]
Expand Down