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Commit 88b39781 authored by 42loop's avatar 42loop
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migrated dotserver.py to real bus access

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bluedot_server/dotserver.py
+ 228
− 75
View file @ 88b39781
......@@ -20,6 +20,8 @@ if platform!="":
data0=0
data1=0
data2=0xaa
last_sensors=0
sensors=0
......@@ -33,10 +35,33 @@ laststate=st_stop
pwm_left=12
pwm_right=33
#d0 - d7
data_pins=[7,8,10,11,13,15,16,18]
data_dir=22
data_gate=40
data_out=GPIO.HIGH
data_in=GPIO.LOW
data_en=GPIO.LOW
data_dis=GPIO.HIGH
a0=29
a1=31
a2=32
a3=35
a4=36
rd=37
wr=38
#master card number:
master_out=2
data_strobe0=22
data_strobe1=40
extra_out=3
master_in=4
data0_ids={"fwd":0,"bwd":1,"LL":2,"LR":3,"RL":4,"RR":5,"none":6,"none":7}
data1_ids={"lbrushcw":0,"lbrushccw":1,"rbrushcw":2,"rbrushccw":3,"col1":4,"col2":5,"col3":6,"col4":7}
......@@ -45,7 +70,7 @@ data1_ids={"lbrushcw":0,"lbrushccw":1,"rbrushcw":2,"rbrushccw":3,"col1":4,"col2"
##### id_sd 27
##### id_sc 28
estop_pins=[29,31,32,35,36,37,38]
#estop_pins=[29,31,32,35,36,37,38]
sensor_ids=["railstart","railend","railposition","left","right","center","none"]
......@@ -113,40 +138,166 @@ pumptargets=[
#################################################
def blink(pin):
GPIO.output(pin,GPIO.HIGH)
time.sleep(.01)
GPIO.output(pin,GPIO.LOW)
time.sleep(.01)
def set_adr_pins(adr):
if ((adr>>0)&1==1):
GPIO.output(a0,GPIO.HIGH)
else:
GPIO.output(a0,GPIO.LOW)
if ((adr>>1)&1==1):
GPIO.output(a1,GPIO.HIGH)
else:
GPIO.output(a1,GPIO.LOW)
def set_card_adr(card):
if ((card>>0)&1==1):
GPIO.output(a2,GPIO.HIGH)
else:
GPIO.output(a2,GPIO.LOW)
if ((card>>1)&1==1):
GPIO.output(a3,GPIO.HIGH)
else:
GPIO.output(a3,GPIO.LOW)
#####################################################
if ((card>>2)&1==1):
GPIO.output(a4,GPIO.HIGH)
else:
GPIO.output(a4,GPIO.LOW)
def init_hardware():
if platform!="":
print("setting up GPIO")
print("setup data_strobe0:",data_strobe0)
def set_data_pins(d):
#print("data0: ",data0)
for b in range(0,8):
if ((d>>b)&1==1):
GPIO.output(data_pins[b],GPIO.HIGH)
else:
GPIO.output(data_pins[b],GPIO.LOW)
def get_data_pins():
#print("data0: ",data0)
v=0
t_data=0
for b in range(0,7):
v=GPIO.input(data_pins[b])
if (v==1):
t_data=t_data | (1<<b)
return t_data
def strobe_wr():
GPIO.output(wr,GPIO.LOW)
time.sleep(.001)
GPIO.output(wr,GPIO.HIGH)
def strobe_rd():
GPIO.output(rd,GPIO.LOW)
time.sleep(.001)
GPIO.output(rd,GPIO.HIGH)
def write_data(card_no,adr,d):
#print("WRITE card_no: ",card_no," subadr: ",adr," data: ",d)
set_data_out()
GPIO.output(data_dir,data_out)
#time.sleep(0.001)
set_data_pins(d)
#time.sleep(0.001)
GPIO.output(data_gate,data_en)
#time.sleep(0.001)
set_adr_pins(adr)
set_card_adr(card_no)
time.sleep(0.01)
strobe_wr()
time.sleep(0.01)
GPIO.output(data_gate,data_dis)
set_data_pins(0)
set_adr_pins(15)
#time.sleep(0.01)
def read_data(card_no,adr):
set_data_in()
GPIO.output(data_dir,data_in)
set_adr_pins(adr)
set_card_adr(card_no)
GPIO.output(data_gate,data_en)
time.sleep(0.01)
strobe_rd()
time.sleep(0.01)
result=get_data_pins()
GPIO.setup(data_strobe0,GPIO.OUT)
GPIO.output(data_strobe0,GPIO.LOW)
GPIO.output(data_gate,data_dis)
set_data_out()
set_data_pins(0)
set_adr_pins(15)
print("setup data_strobe1:",data_strobe1)
GPIO.setup(data_strobe1,GPIO.OUT)
GPIO.output(data_strobe1,GPIO.LOW)
#print("READ card_no: ",card_no," subadr: ",adr," data: ",result)
print("setup data pins")
return result
def set_data_out():
#print("setup data pins out")
for i in range(0,8):
print("pin: ",data_pins[i])
# print("pin: ",data_pins[i])
GPIO.setup(data_pins[i],GPIO.OUT)
GPIO.output(data_pins[i],GPIO.LOW)
print("setup estop pins:")
for i in range(0,7):
print("pin: ",estop_pins[i])
try:
GPIO.setup(estop_pins[i],GPIO.IN,pull_up_down=GPIO.PUD_DOWN)
except:
print(estop_pins[i],"trouble")
pass
#GPIO.output(estop_pins[i],GPIO.LOW)
def set_data_in():
#print("setup data pins in")
for i in range(0,8):
# print("pin: ",data_pins[i])
GPIO.setup(data_pins[i],GPIO.IN)
#####################################################
def init_hardware():
#if platform!="":
print("setting up GPIO")
print("setup data_dir:",data_dir)
GPIO.setup(data_dir,GPIO.OUT)
GPIO.output(data_dir,data_out)
print("setup data_gate:",data_gate)
GPIO.setup(data_gate,GPIO.OUT)
GPIO.output(data_gate,data_dis)
set_data_out()
print("setup address pins:")
GPIO.setup(a0,GPIO.OUT)
GPIO.setup(a1,GPIO.OUT)
GPIO.setup(a2,GPIO.OUT)
GPIO.setup(a3,GPIO.OUT)
GPIO.setup(a4,GPIO.OUT)
GPIO.output(a0,GPIO.LOW)
GPIO.output(a1,GPIO.LOW)
GPIO.output(a2,GPIO.LOW)
GPIO.output(a3,GPIO.LOW)
GPIO.output(a4,GPIO.LOW)
print("setup read/write pins:")
GPIO.setup(rd,GPIO.OUT)
GPIO.setup(wr,GPIO.OUT)
GPIO.output(rd,GPIO.HIGH)
GPIO.output(rd,GPIO.HIGH)
print("init spi channel for adc")
spi_max_speed = 10000 # 4 MHz
......@@ -170,44 +321,10 @@ def init_hardware():
print("hardware setup done")
###################################################
def get_sensors():
global sensors
t_estops=0
for b in range(0,7):
v=GPIO.input(estop_pins[b])
if (v==1):
t_estops=t_estops | (1<<b)
sensors=t_estops
#################################################
###################################################
def set_data():
#print("data0: ",data0)
for b in range(0,8):
if ((data0>>b)&1==1):
GPIO.output(data_pins[b],GPIO.HIGH)
else:
GPIO.output(data_pins[b],GPIO.LOW)
GPIO.output(data_strobe0,GPIO.HIGH)
time.sleep(.01)
GPIO.output(data_strobe0,GPIO.LOW)
#print("data1: ",data1)
for b in range(0,8):
if ((data1>>b)&1==1):
GPIO.output(data_pins[b],GPIO.HIGH)
else:
GPIO.output(data_pins[b],GPIO.LOW)
GPIO.output(data_strobe1,GPIO.HIGH)
time.sleep(.01)
GPIO.output(data_strobe1,GPIO.LOW)
###################################################
def initsequences():
......@@ -270,7 +387,7 @@ def forward_on():
# print(data0_ids["fwd"])
data0=data0 | 1<<data0_ids["fwd"]
set_data()
# write_data(master_out,0,data0)
state=st_fwd
if state!=laststate:
......@@ -285,8 +402,8 @@ def backward_on():
global data0
# print(data0_ids["fwd"])
data0=data0 | 1<<data0_ids["fwd"]
set_data()
data0=data0 | 1<<data0_ids["bwd"]
# write_data(master_out,0,data0)
state=st_bwd
if state!=laststate:
......@@ -302,7 +419,7 @@ def stop():
data0=data0 & ~(1<<data0_ids["fwd"])
data0=data0 & ~(1<<data0_ids["bwd"])
set_data()
# write_data(master_out,0,data0)
#GPIO.output(bwd_pin,GPIO.LOW)
#GPIO.output(fwd_pin,GPIO.LOW)
......@@ -322,11 +439,13 @@ def quicktimerevent():
global power
global last_sensors
get_sensors()
sensors=read_data(master_in,0)
if sensors!=last_sensors:
print(sensors)
last_sensors=sensors
if stoprequested:
if (actual_left_speed==0) and (actual_right_speed==0) and (actual_track_speed==0):
power=False
......@@ -352,6 +471,11 @@ def quicktimerevent():
actual_track_speed-=1
setMoveOutput(actual_track_speed)
write_data(master_out,0,data0)
write_data(master_out,1,data1)
write_data(extra_out,0,data2)
sendStatus()
......@@ -373,6 +497,16 @@ def sectimerevent():
global nextpumptarget
global stoprequested
global data2
data2=random.randint(0,255)
return
time_elap+=1
if power:
......@@ -520,7 +654,8 @@ def setRotateOutput(id, speed):
pwmright.ChangeDutyCycle(abs(speed))
set_data()
# write_data(master_out,1,data1)
###################################################
......@@ -531,6 +666,20 @@ def connected():
########################################################
def disconnected():
global data1
print("DISCONNECTED")
data1=data1 & ~(1<<data1_ids["col1"])
data1=data1 & ~(1<<data1_ids["col2"])
data1=data1 & ~(1<<data1_ids["col3"])
data1=data1 & ~(1<<data1_ids["col4"])
########################################################
#clicked event
def pressed(pos,id):
......@@ -592,12 +741,13 @@ def pressed(pos,id):
elif id in data0_ids:
if power:
data0=data0 | 1<<data0_ids[id]
set_data()
# write_data(master_out,0,data0)
elif id in data1_ids:
if power:
data1=data1 | 1<<data1_ids[id]
set_data()
# write_data(master_out,1,data1)
######################################################
......@@ -633,12 +783,13 @@ def released(pos,id):
elif id in data0_ids:
#print(data0_ids[id])
data0=data0 & ~(1<<data0_ids[id])
set_data()
# write_data(master_out,0,data0)
elif id in data1_ids:
#print(data1_ids[id])
data1=data1 & ~(1<<data1_ids[id])
set_data()
# write_data(master_out,1,data1)
......@@ -701,7 +852,8 @@ pwmright = GPIO.PWM(pwm_right, 100) # Initialize PWM on pwmPin 100Hz frequency
init_hardware()
set_data()
write_data(master_out,0,data0)
write_data(master_out,1,data1)
#initsequences()
......@@ -725,7 +877,7 @@ target_speed=0
t = aTimer(1,sectimerevent)
#t.start()
t.start()
t2 = aTimer(.1,quicktimerevent)
t2.start()
......@@ -736,6 +888,7 @@ bd.when_rotated = rotated
bd.when_pressed = pressed
bd.when_released = released
bd.when_client_connects = connected
bd.when_client_disconnects = disconnected
pause()
......
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