forked from platypush/platypush
Migrated arduino integration to the new SensorPlugin API.
This commit is contained in:
parent
cf16076bce
commit
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GPG key ID:
D90FBA7F76362774
5 changed files with 282 additions and 179 deletions
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@ -1,4 +1,7 @@
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{
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"arduino": {
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"class": "fas fa-microchip"
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},
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"bluetooth": {
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"class": "fab fa-bluetooth"
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},
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@ -1,26 +0,0 @@
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from platypush.backend.sensor import SensorBackend
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class SensorArduinoBackend(SensorBackend):
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"""
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This backend listens for new events from an Arduino with a Firmata-compatible firmware.
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Requires:
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* The :class:`platypush.plugins.arduino.ArduinoPlugin` plugin configured.
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Triggers:
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* :class:`platypush.message.event.sensor.SensorDataChangeEvent` if the measurements of a sensor have changed
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* :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent` if the measurements of a sensor have
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gone above a configured threshold
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* :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent` if the measurements of a sensor have
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gone below a configured threshold
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"""
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def __init__(self, **kwargs):
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super().__init__(plugin='arduino', **kwargs)
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# vim:sw=4:ts=4:et:
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@ -1,12 +0,0 @@
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manifest:
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events:
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platypush.message.event.sensor.SensorDataAboveThresholdEvent: if the measurements
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of a sensor havegone above a configured threshold
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platypush.message.event.sensor.SensorDataBelowThresholdEvent: if the measurements
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of a sensor havegone below a configured threshold
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platypush.message.event.sensor.SensorDataChangeEvent: if the measurements of a
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sensor have changed
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install:
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pip: []
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package: platypush.backend.sensor.arduino
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type: backend
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@ -1,26 +1,49 @@
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import enum
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import time
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from typing import Optional, Dict, Union, Callable, Tuple, Type
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from typing import List, Optional, Dict, Union, Callable, Tuple, Type
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from typing_extensions import override
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from pyfirmata2 import Arduino, ArduinoMega, ArduinoDue, ArduinoNano, Pin, util, ANALOG, INPUT, PWM
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from pyfirmata2 import (
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Arduino,
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ArduinoMega,
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ArduinoDue,
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ArduinoNano,
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Board,
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Pin,
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util,
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ANALOG,
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INPUT,
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PWM,
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)
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from platypush.common.sensors import Numeric
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from platypush.entities.devices import Device
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from platypush.entities.sensors import NumericSensor
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from platypush.plugins import action
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from platypush.plugins.sensor import SensorPlugin
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class PinType(enum.IntEnum):
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"""
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PIN type enumeration (analog or digital).
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"""
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ANALOG = 1
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DIGITAL = 2
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class BoardType(enum.Enum):
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"""
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Board types.
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"""
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MEGA = 'mega'
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DUE = 'due'
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NANO = 'nano'
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# noinspection PyBroadException
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# pylint: disable=too-many-ancestors
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class ArduinoPlugin(SensorPlugin):
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"""
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Interact with an Arduino connected to the host machine over USB using the
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@ -41,23 +64,32 @@ class ArduinoPlugin(SensorPlugin):
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* **pyfirmata2** (``pip install pyfirmata2``)
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Triggers:
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* :class:`platypush.message.event.sensor.SensorDataAboveThresholdEvent`
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* :class:`platypush.message.event.sensor.SensorDataBelowThresholdEvent`
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* :class:`platypush.message.event.sensor.SensorDataChangeEvent`
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"""
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def __init__(self,
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def __init__(
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self,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: int = 57600,
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baud_rate: int = 9600,
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analog_pins: Optional[Dict[str, int]] = None,
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digital_pins: Optional[Dict[str, int]] = None,
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timeout: float = 20.0,
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conv_functions: Optional[Dict[Union[str, int], Union[str, Callable]]] = None,
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**kwargs):
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poll_interval: float = 1.0,
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**kwargs,
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):
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"""
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:param board: Default board name or path (e.g. ``COM3`` on Windows or ``/dev/ttyUSB0`` on Unix). If not set
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then the plugin will attempt an auto-discovery.
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:param board_type: Default board type. It can be 'mega', 'due' or 'nano'. Leave empty for auto-detection.
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:param baud_rate: Default serial baud rate (default: 57600)
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:param baud_rate: Default serial baud rate (default: 9600)
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:param analog_pins: Optional analog PINs map name->pin_number.
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:param digital_pins: Optional digital PINs map name->pin_number.
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:param timeout: Board communication timeout in seconds.
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@ -77,7 +109,7 @@ class ArduinoPlugin(SensorPlugin):
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temperature: 'lambda t: t * 500.0'
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"""
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super().__init__(**kwargs)
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super().__init__(poll_interval=poll_interval, **kwargs)
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self.board = board
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self.board_type = self._get_board_type(board_type)
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@ -90,20 +122,28 @@ class ArduinoPlugin(SensorPlugin):
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}
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self._pin_name_by_number = {
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PinType.ANALOG: {number: name for name, number in self._pin_number_by_name[PinType.ANALOG].items()},
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PinType.DIGITAL: {number: name for name, number in self._pin_number_by_name[PinType.DIGITAL].items()},
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PinType.ANALOG: {
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number: name
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for name, number in self._pin_number_by_name[PinType.ANALOG].items()
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},
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PinType.DIGITAL: {
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number: name
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for name, number in self._pin_number_by_name[PinType.DIGITAL].items()
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},
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}
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self.conv_functions: Dict[Union[str, int], Callable] = {
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(self._pin_number_by_name[PinType.ANALOG].get(pin, pin)): (f if callable(f) else eval(f))
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(self._pin_number_by_name[PinType.ANALOG].get(str(pin), pin)): (
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f if callable(f) else eval(f)
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)
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for pin, f in (conv_functions or {}).items()
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}
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self._boards = {}
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self._board_iterators = {}
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self._boards: Dict[str, Board] = {}
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self._board_iterators: Dict[str, util.Iterator] = {}
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@staticmethod
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def _get_board_type(board_type: Optional[str] = None) -> Type:
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def _get_board_type(board_type: Optional[str] = None) -> Type[Board]:
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if not board_type:
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return Arduino
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@ -115,13 +155,15 @@ class ArduinoPlugin(SensorPlugin):
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if board_type == BoardType.MEGA.value:
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return ArduinoMega
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raise AssertionError('Invalid board_type: {}'.format(board_type))
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raise AssertionError(f'Invalid board_type: {board_type}')
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def _get_board(self,
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def _get_board(
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self,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[float] = None):
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timeout: Optional[float] = None,
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) -> Board:
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board_name = board or self.board or Arduino.AUTODETECT
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baud_rate = baud_rate or self.baud_rate
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timeout = timeout or self.timeout
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@ -129,48 +171,58 @@ class ArduinoPlugin(SensorPlugin):
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if board_name in self._boards:
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return self._boards[board_name]
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board_type = self._get_board_type(board_type) if board_type else self.board_type
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board = board_type(board_name, baudrate=baud_rate, timeout=timeout)
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self.logger.info('Connected to board {}'.format(board.name))
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self._boards[board_name] = board
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board_obj_type = (
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self._get_board_type(board_type) if board_type else self.board_type
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)
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assert board_obj_type
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self._board_iterators[board.name] = util.Iterator(board)
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self._board_iterators[board.name].start()
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return board
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board_obj = board_obj_type(board_name, baudrate=baud_rate, timeout=timeout)
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board_name = board_obj.name or ''
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self.logger.info('Connected to board %s', board_name)
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self._boards[board_name] = board_obj
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self._board_iterators[board_name] = util.Iterator(board_obj)
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self._board_iterators[board_name].start()
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return board_obj
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def _get_board_and_pin(self,
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def _get_board_and_pin(
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self,
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pin: Union[int, str],
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pin_type: PinType,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None) -> Tuple[Arduino, int]:
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board = self._get_board(board, board_type=board_type, baud_rate=baud_rate, timeout=timeout)
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timeout: Optional[int] = None,
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) -> Tuple[Board, int]:
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board_ = self._get_board(
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board, board_type=board_type, baud_rate=baud_rate, timeout=timeout
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)
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if pin in self._pin_number_by_name[pin_type]:
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pin = self._pin_number_by_name[pin_type][pin]
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pin = self._pin_number_by_name[pin_type][str(pin)]
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assert isinstance(pin, int), 'Invalid PIN number/name: {}'.format(pin)
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return board, pin
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assert isinstance(pin, int), f'Invalid PIN number/name: {pin}'
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return board_, pin
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@staticmethod
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def _get_pin(pin: int, board: Arduino, pin_type: PinType) -> Pin:
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def _get_pin(pin: int, board: Board, pin_type: PinType) -> Pin:
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pins = None
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if pin_type == PinType.ANALOG:
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pins = board.analog
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if pin_type == PinType.DIGITAL:
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pins = board.digital
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assert pins, 'Invalid pin_type: {}'.format(pin_type)
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assert pins, f'Invalid pin_type: {pin_type}'
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if pins[pin].mode in [ANALOG, INPUT]:
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pins[pin].enable_reporting()
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return pins[pin]
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def _poll_value(self,
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def _poll_value(
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self,
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pin: int,
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board: Arduino,
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board: Board,
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pin_type: PinType,
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timeout: Optional[float] = None) -> Optional[Union[bool, float]]:
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timeout: Optional[float] = None,
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) -> Optional[Union[bool, float]]:
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value = None
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poll_start = time.time()
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@ -180,8 +232,10 @@ class ArduinoPlugin(SensorPlugin):
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pin_ = self._get_pin(pin=pin, board=board, pin_type=pin_type)
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if pin_.mode not in [INPUT, ANALOG]:
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self.logger.warning('PIN {} is not configured in input/analog mode'.format(pin))
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return
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self.logger.warning(
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'PIN %d is not configured in input/analog mode', pin
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)
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return None
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value = pin_.read()
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if value is None:
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@ -193,13 +247,15 @@ class ArduinoPlugin(SensorPlugin):
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return value
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@action
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def analog_read(self,
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def analog_read(
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self,
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pin: Union[int, str],
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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conv_function: Optional[Union[str, Callable]] = None,
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timeout: Optional[int] = None) -> float:
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timeout: Optional[int] = None,
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) -> Optional[float]:
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"""
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Read an analog value from a PIN.
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@ -212,28 +268,44 @@ class ArduinoPlugin(SensorPlugin):
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returns by default float values in the range ``[0.0, 1.0]``.
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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conv_function = conv_function or self.conv_functions.get(pin)
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board, pin = self._get_board_and_pin(pin=pin,
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.ANALOG,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout)
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timeout=timeout,
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)
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conv_function = conv_function or self.conv_functions.get(pin)
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value = self._poll_value(pin=pin, board=board, pin_type=PinType.ANALOG, timeout=timeout)
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converter: Optional[Callable[[float], float]] = None
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if isinstance(conv_function, str):
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converter = eval(conv_function)
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elif callable(conv_function):
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converter = conv_function
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elif conv_function is not None:
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raise AssertionError(
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'Expected conv_function to be null, a string or a function, '
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f'got "{conv_function}" instead'
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)
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if conv_function:
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value = conv_function(value)
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value = self._poll_value(
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pin=pin, board=board_, pin_type=PinType.ANALOG, timeout=timeout
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)
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if converter and value is not None:
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value = converter(value)
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return value
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@action
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def digital_read(self,
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def digital_read(
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self,
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pin: Union[int, str],
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None) -> bool:
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timeout: Optional[int] = None,
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) -> bool:
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"""
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Read a digital value from a PIN.
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@ -243,22 +315,31 @@ class ArduinoPlugin(SensorPlugin):
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:param baud_rate: Baud rate (default: default configured ``baud_rate``).
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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board, pin = self._get_board_and_pin(pin=pin,
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.DIGITAL,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout)
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timeout=timeout,
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)
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return self._poll_value(pin=pin, board=board, pin_type=PinType.DIGITAL, timeout=timeout)
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return bool(
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self._poll_value(
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pin=pin, board=board_, pin_type=PinType.DIGITAL, timeout=timeout
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)
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)
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@action
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def analog_write(self, pin: Union[int, str],
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def analog_write(
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self,
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pin: Union[int, str],
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value: float,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None):
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timeout: Optional[int] = None,
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):
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"""
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Write a value to an analog PIN.
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@ -269,21 +350,26 @@ class ArduinoPlugin(SensorPlugin):
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:param baud_rate: Baud rate (default: default configured ``baud_rate``).
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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board, pin = self._get_board_and_pin(pin=pin,
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.ANALOG,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout)
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board.analog[pin].write(value)
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timeout=timeout,
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)
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board_.analog[pin].write(value)
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@action
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def digital_write(self, pin: Union[int, str],
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def digital_write(
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self,
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pin: Union[int, str],
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value: bool,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None):
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timeout: Optional[int] = None,
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):
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"""
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Write a value to a digital PIN.
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@ -294,21 +380,26 @@ class ArduinoPlugin(SensorPlugin):
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:param baud_rate: Baud rate (default: default configured ``baud_rate``).
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:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
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"""
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board, pin = self._get_board_and_pin(pin=pin,
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board_, pin = self._get_board_and_pin(
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pin=pin,
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pin_type=PinType.DIGITAL,
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board=board,
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board_type=board_type,
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baud_rate=baud_rate,
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timeout=timeout)
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board.digital[pin].write(value)
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timeout=timeout,
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)
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board_.digital[pin].write(value)
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@action
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def pwm_write(self, pin: Union[int, str],
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def pwm_write(
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self,
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pin: Union[int, str],
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value: float,
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board: Optional[str] = None,
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board_type: Optional[str] = None,
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baud_rate: Optional[int] = None,
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timeout: Optional[int] = None):
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timeout: Optional[int] = None,
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):
|
||||
"""
|
||||
Write a PWM value to a digital PIN.
|
||||
|
||||
|
|
@ -319,26 +410,32 @@ class ArduinoPlugin(SensorPlugin):
|
|||
:param baud_rate: Baud rate (default: default configured ``baud_rate``).
|
||||
:param timeout: Communication timeout in seconds (default: default configured ``timeout``).
|
||||
"""
|
||||
board, pin = self._get_board_and_pin(pin=pin,
|
||||
board_, pin = self._get_board_and_pin(
|
||||
pin=pin,
|
||||
pin_type=PinType.DIGITAL,
|
||||
board=board,
|
||||
board_type=board_type,
|
||||
baud_rate=baud_rate,
|
||||
timeout=timeout)
|
||||
timeout=timeout,
|
||||
)
|
||||
|
||||
assert board.digital[pin].PWM_CAPABLE, 'PIN {} is not PWM capable'.format(pin)
|
||||
if board.digital[pin] != PWM:
|
||||
board.digital[pin].mode = PWM
|
||||
time.sleep(0.001)
|
||||
assert board_.digital[pin].PWM_CAPABLE, f'PIN {pin} is not PWM capable'
|
||||
if board_.digital[pin] != PWM:
|
||||
board_.digital[pin].mode = PWM
|
||||
time.sleep(0.001) # 1 μs spike to activate a PWM pin
|
||||
|
||||
board.digital[pin].write(value)
|
||||
board_.digital[pin].write(value)
|
||||
|
||||
@action
|
||||
def get_measurement(self,
|
||||
def get_measurement(
|
||||
self,
|
||||
*_,
|
||||
board: Optional[str] = None,
|
||||
board_type: Optional[str] = None,
|
||||
baud_rate: Optional[int] = None,
|
||||
timeout: Optional[int] = None) -> Dict[str, float]:
|
||||
timeout: Optional[int] = None,
|
||||
**__,
|
||||
) -> Dict[str, Optional[Union[float, bool]]]:
|
||||
"""
|
||||
Get a measurement from all the configured PINs.
|
||||
|
||||
|
|
@ -352,21 +449,35 @@ class ArduinoPlugin(SensorPlugin):
|
|||
transformed through the configured ``conv_functions``.
|
||||
"""
|
||||
ret = {}
|
||||
board = self._get_board(board=board, board_type=board_type, baud_rate=baud_rate, timeout=timeout)
|
||||
board_ = self._get_board(
|
||||
board=board, board_type=board_type, baud_rate=baud_rate, timeout=timeout
|
||||
)
|
||||
|
||||
for pin in board.analog:
|
||||
if self._pin_name_by_number[PinType.ANALOG] and \
|
||||
pin.pin_number not in self._pin_name_by_number[PinType.ANALOG]:
|
||||
assert board_, f'No such board: board={board}, board_type={board_type}'
|
||||
|
||||
for pin in board_.analog:
|
||||
if (
|
||||
self._pin_name_by_number[PinType.ANALOG]
|
||||
and pin.pin_number not in self._pin_name_by_number[PinType.ANALOG]
|
||||
):
|
||||
continue
|
||||
|
||||
name = self._pin_name_by_number[PinType.ANALOG].get(pin.pin_number, 'A{}'.format(pin.pin_number))
|
||||
value = self._poll_value(pin=pin.pin_number, board=board, pin_type=PinType.ANALOG,
|
||||
timeout=timeout or self.timeout)
|
||||
name = self._pin_name_by_number[PinType.ANALOG].get(
|
||||
pin.pin_number, f'A{pin.pin_number}'
|
||||
)
|
||||
value = self._poll_value(
|
||||
pin=pin.pin_number,
|
||||
board=board_,
|
||||
pin_type=PinType.ANALOG,
|
||||
timeout=timeout or self.timeout,
|
||||
)
|
||||
|
||||
if value is None:
|
||||
continue
|
||||
|
||||
conv_function = self.conv_functions.get(name, self.conv_functions.get(pin.pin_number))
|
||||
conv_function = self.conv_functions.get(
|
||||
name, self.conv_functions.get(pin.pin_number)
|
||||
)
|
||||
if conv_function:
|
||||
value = conv_function(value)
|
||||
|
||||
|
|
@ -374,8 +485,32 @@ class ArduinoPlugin(SensorPlugin):
|
|||
|
||||
return ret
|
||||
|
||||
@override
|
||||
def transform_entities(self, entities: Dict[str, Numeric]) -> List[Device]: # type: ignore
|
||||
dev_id = 'arduino'
|
||||
dev_name = 'Arduino'
|
||||
if self.board:
|
||||
dev_id += f':{self.board}'
|
||||
dev_name += f' @ {self.board}'
|
||||
|
||||
return [
|
||||
Device(
|
||||
id=dev_id,
|
||||
name=dev_name,
|
||||
children=[
|
||||
NumericSensor(
|
||||
id=f'{dev_id}:{key}',
|
||||
name=key,
|
||||
value=value,
|
||||
)
|
||||
for key, value in entities.items()
|
||||
],
|
||||
)
|
||||
]
|
||||
|
||||
@action
|
||||
def close(self):
|
||||
def stop(self):
|
||||
super().stop()
|
||||
for it in self._board_iterators.values():
|
||||
it.stop()
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,8 @@
|
|||
manifest:
|
||||
events: {}
|
||||
events:
|
||||
platypush.message.event.sensor.SensorDataAboveThresholdEvent:
|
||||
platypush.message.event.sensor.SensorDataBelowThresholdEvent:
|
||||
platypush.message.event.sensor.SensorDataChangeEvent:
|
||||
install:
|
||||
pip:
|
||||
- pyfirmata2
|
||||
|
|
|
|||
Loading…
Reference in a new issue