diff --git a/bluedot_server/dotserver.py b/bluedot_server/dotserver.py
index c378c670735b01ce5b1b8de9600ce1dbe1bd0db9..d63ce410ffff2de43c3264d0edfdeb21d5d30a0e 100644
--- a/bluedot_server/dotserver.py
+++ b/bluedot_server/dotserver.py
@@ -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"]
@@ -113,41 +138,167 @@ 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")
+
+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)
- print("setup data_strobe0:",data_strobe0)
+ 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.output(data_gate,data_dis)
+ set_data_out()
+ set_data_pins(0)
+ set_adr_pins(15)
- GPIO.setup(data_strobe0,GPIO.OUT)
- GPIO.output(data_strobe0,GPIO.LOW)
+ #print("READ card_no: ",card_no," subadr: ",adr," data: ",result)
- print("setup data_strobe1:",data_strobe1)
- GPIO.setup(data_strobe1,GPIO.OUT)
- GPIO.output(data_strobe1,GPIO.LOW)
+ return result
- print("setup data pins")
+
+
+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
V_Ref = 5000 # 5V in mV
@@ -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)
@@ -321,11 +438,13 @@ def quicktimerevent():
global stoprequested
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):
@@ -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):
@@ -560,7 +709,7 @@ def pressed(pos,id):
ts = int(round(time.time() * 1000))
- #print("pressed: ",id,ts);
+# print("pressed: ",id,ts);
if id=="leftbrush":
leftpressedts=ts
@@ -592,18 +741,19 @@ 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)
+
######################################################
def released(pos,id):
ts = int(round(time.time() * 1000))
- #print("released: ",id, ts)
+# print("released: ",id, ts)
global data0
global 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()