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JSON serial responses and example python code
Make the Arduino only output single-line JSON objects via serial to make it easy for control software to parse. Also added some example python software which randomly picks words to display from a list of 4-letter animal names. Fixes scottbez1#31
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,65 @@ | ||
| from __future__ import print_function | ||
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| import random | ||
| import time | ||
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| import serial | ||
| import serial.tools.list_ports | ||
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| from splitflap import splitflap | ||
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| words = [ | ||
| 'duck', 'goat', 'lion', 'bear', 'mole', 'crab', | ||
| 'hare', 'toad', 'wolf', 'lynx', 'cats', 'dogs', | ||
| 'bees', 'mule', 'seal', 'bird', 'frog', 'deer', | ||
| 'lamb', 'fish', 'hawk', 'kiwi', | ||
| ] | ||
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| def run(): | ||
| port = ask_for_serial_port() | ||
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| print('Starting...') | ||
| with splitflap(port) as s: | ||
| while True: | ||
| word = random.choice(words) | ||
| print('Going to {}'.format(word)) | ||
| status = s.set_text(word) | ||
| print_status(status) | ||
| time.sleep(3) | ||
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| def ask_for_serial_port(): | ||
| print('Available ports:') | ||
| ports = sorted( | ||
| filter( | ||
| lambda p: p.description != 'n/a', | ||
| serial.tools.list_ports.comports(), | ||
| ), | ||
| key=lambda p: p.device, | ||
| ) | ||
| for i, port in enumerate(ports): | ||
| print('[{: 2}] {} - {}'.format(i, port.device, port.description)) | ||
| print() | ||
| value = raw_input('Use which port? ') | ||
| port_index = int(value) | ||
| assert 0 <= port_index < len(ports) | ||
| return ports[port_index].device | ||
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| def print_status(status): | ||
| for module in status: | ||
| state = '' | ||
| if module['state'] == 'panic': | ||
| state = '!!!!' | ||
| elif module['state'] == 'look_for_home': | ||
| state = '...' | ||
| elif module['state'] == 'sensor_error': | ||
| state = '????' | ||
| elif module['state'] == 'normal': | ||
| state = module['flap'] | ||
| print('{:4} {: 4} {: 4}'.format(state, module['count_missed_home'], module['count_unexpected_home'])) | ||
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| if __name__ == '__main__': | ||
| run() |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,89 @@ | ||
| import json | ||
| from contextlib import contextmanager | ||
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| import serial | ||
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| _ALPHABET = { | ||
| ' ', | ||
| 'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h', 'i', 'j', 'k', 'l', 'm', | ||
| 'n', 'o', 'p', 'q', 'r', 's', 't', 'u', 'v', 'w', 'x', 'y', 'z', | ||
| '0', '1', '2', '3', '4', '5', '6', '7', '8', '9', | ||
| '.', | ||
| ',', | ||
| '\'', | ||
| } | ||
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| class Splitflap(object): | ||
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| def __init__(self, serial_instance): | ||
| self.serial = serial_instance | ||
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| self.has_inited = False | ||
| self.num_modules = 0 | ||
| self.last_command = None | ||
| self.last_status = None | ||
| self.exception = None | ||
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| def _loop_for_status(self): | ||
| while True: | ||
| line = self.serial.readline().lstrip('\0').rstrip('\n') | ||
| data = json.loads(line) | ||
| t = data['type'] | ||
| if t == 'init': | ||
| if self.has_inited: | ||
| raise RuntimeError('Unexpected re-init!') | ||
| self.has_inited = True | ||
| self.num_modules = data['num_modules'] | ||
| elif t == 'move_echo': | ||
| if not self.has_inited: | ||
| raise RuntimeError('Got move_echo before init!') | ||
| if self.last_command is None: | ||
| raise RuntimeError('Unexpected move_echo response from controller') | ||
| if self.last_command != data['dest']: | ||
| raise RuntimeError('Bad response from controller. Expected {!r} but got {!r}'.format( | ||
| self.last_command, | ||
| data['dest'], | ||
| )) | ||
| elif t == 'status': | ||
| if not self.has_inited: | ||
| raise RuntimeError('Got status before init!') | ||
| if len(data['modules']) != self.num_modules: | ||
| raise RuntimeError('Wrong number of modules in status update. Expected {} but got {}'.format( | ||
| self.num_modules, | ||
| len(data['modules']), | ||
| )) | ||
| self.last_status = data['modules'] | ||
| return self.last_status | ||
| elif t == 'no_op': | ||
| pass | ||
| else: | ||
| raise RuntimeError('Unexpected message: {!r}'.format(data)) | ||
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| def is_in_alphabet(self, letter): | ||
| return letter in _ALPHABET | ||
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| def set_text(self, text): | ||
| for letter in text: | ||
| assert self.is_in_alphabet(letter), 'Unexpected letter: {!r}. Must be one of {!r}'.format( | ||
| letter, | ||
| list(_ALPHABET), | ||
| ) | ||
| self.last_command = text | ||
| self.serial.write('={}\n'.format(text)) | ||
| return self._loop_for_status() | ||
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| def recalibrate_all(self): | ||
| self.serial.write('@') | ||
| return self._loop_for_status() | ||
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| def get_status(self): | ||
| return self.last_status | ||
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| @contextmanager | ||
| def splitflap(serial_port): | ||
| with serial.Serial(serial_port, 38400) as ser: | ||
| s = Splitflap(ser) | ||
| s._loop_for_status() | ||
| yield s |